Updated on 2024/02/15

写真a

 
OSUMI Hisashi
 
Organization
Faculty of Science and Engineering Professor
Other responsible organization
Precision Engineering Course of Graduate School of Science and Engineering, Master's Program
Precision Engineering Course of Graduate School of Science and Engineering, Doctoral Program
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • Doctor of Engineering ( The University of Tokyo )

  • 工学修士 ( 東京大学 )

Education

  • 1988.3
     

    The University of Tokyo   Graduate School, Division of Engineering   doctor course   withdrawn before completion

Research History

  • 2023.8 - Now

    一般財団法人製造科学技術センター   理事

  • 2023.4 - Now

    Chuo University   The Institute of Science and Engineering   Director

  • 2001.4 - Now

    中央大学理工学部精密機械工学科教授

  • 2003.4 - 2006.9

    東京大学工学部非常勤講師

  • 2003.4 - 2004.3

    東京工業高等専門学校非常勤講師

  • 1998.10 - 2002.3

    東京工業高等専門学校非常勤講師

  • 1994.10 - 2001.3

    中央大学理工学部精密機械工学科助教授

  • 1994.4 - 1994.9

    中央大学理工学部非常勤講師

  • 1993.7 - 1994.9

    東京大学工学部精密機械工学科助教授

  • 1991.3 - 1993.7

    東京大学工学部精密機械工学科専任講師

  • 1988.4 - 1991.3

    東京大学工学部精密機械工学科助手

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Professional Memberships

  • 建設ロボット研究連絡協議会

  • 計測自動制御学会

  • 日本ロボット学会

  • 精密工学会

  • 日本機械学会

  • The Institute of Electrical and Electronics Engineers

  • 日本時計学会

▼display all

Research Interests

  • robot

  • Mechanical Engineering

Research Areas

  • Informatics / Mechanics and mechatronics  / 機械力学・制御

  • Informatics / Mechanics and mechatronics  / 知能機械学・機械システム

  • Informatics / Robotics and intelligent system  / 知能機械学・機械システム

Papers

  • Cooperative positioning system for large objects consisting of three position-controlled manipulators with six wires Reviewed

    Hisashi Osumi, Marina Ogisaka, Yoshinori Oshikawa, Yuta Sekimura, Kento Fukui, Yasumichi Aiyama

    Transactions of the JSME(in Japanese)   87 ( 895 )   2021.3

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    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.20-00143

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  • Reaction Force Control of Counter Weights for a Manipulator Suspended by 6 Wires Reviewed

    Hisashi Osumi, Toru Matsumoto, Masami Nakamura

    Journal of the Japan Society for Precision Engineering   83 ( 9 )   863 - 869   2017.9

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society for Precision Engineering  

    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by six wires. The base plate is completely constrained by the wires, but their tensions change according to the motion of the manipulator or force disturbances acting on the suspended part, which may cause undesirable vibrations or turnover of the base plate. To avoid such situations, four counter weights driven by DC motors are mounted on the base plate. These counter weights are controlled by the feedback signals from tension sensors of six wires to keep the wire tensions positive. After the relationship between wire tensions and the counter weight motion are analyzed, a control law to keep the desirable tensions is proposed and it is installed into the prototype of the wire suspended manipulator system. The results of some fundamental experiments prove the analyzed static performance of the system and also verify the effectiveness of the proposed control system.

    DOI: 10.2493/jjspe.83.863

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  • Time optimal positioning control of a quadruped robot for trot gait Reviewed

    Yuhei Suzuki, Hisashi Osumi

    Transactions of the Japan Society of Mechanical Eengineers (C)   83 ( 849 )   1 - 13   2017.5

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Eengineers  

    A design method of time-optimal trajectory of quadruped robots from an initial position to a target position is developed for trot gait. The designed trajectory consists of three phases, acceleration phase, steady walk phase and deceleration phase. The time-optimal trajectory is designed in each phase and they are integrated so that the robot reaches the target position. Since the fastest walk trajectory in steady walk has already been obtained in our previous research, the time-optimal trajectories in the acceleration and deceleration phases are designed in a similar way to the previous study.

    DOI: 10.1299/transjsme.17-00017

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  • Development of Crane Tele-operation System using Laser Pointer Interface Reviewed

    Masaki Negishi, Hisasi Osumi, Keiichirou Saito, Hikaru Masuda, Yusuke Tamura

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   5457 - 5462   2013

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    A teleoperation system for a crane is developed. The crane uses a small actuator and large actuator in each direction (x and y). The large actuator is controlled by input signals from a laser pointer interface, and the small actuator is used as a regulator and is feedback-controlled by a wire angle sensor. To avoid overshoots in the suspended object at the target point and to eliminate the effect of the trembling of the irradiated light by the laser pointer, the velocity commands sent to the large actuator are designed by accumulating cubic functions, each of which is based on the displacement of the irradiated light in a sampling period. The effectiveness of the developed control system and its control algorithm were verified through experimental results.

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  • Efficient scooping of rocks by autonomous controlledwheel loader Reviewed

    Hisashi Osumi, Tomoya Uehara, Naoto Okada, Takuya Fujiwara, Shigeru Sarata

    Journal of Robotics and Mechatronics   24 ( 6 )   924 - 932   2012

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    We propose a method for the efficient scooping of sediment by a wheel loader. We performed experiments to verify the effectiveness of the proposed method. First, in order to calculate the energy required for the scooping operation, we derived a model of the reaction force that is generated on the bucket. We verified the validity of the model by experiments. We then used the reaction force model to determine the optimal trajectory for the bucket. A mechanical simulator was used to verify the trajectory. Although experimental results showed the unexpected effects of sediment that settled inside the bucket, we obtained results that reflect theoretical values.

    DOI: 10.20965/jrm.2012.p0924

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  • Positioning of wire suspension system using CCD cameras Reviewed

    H Osumi, A Miura, S Eiraku

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4   258 - 263   2005

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    A sensor system for measuring tilting angles of a wire which suspends a swinging mass is developed. Two CCD cameras are placed toward the wire on a horizontal plane, and obtain the images of the moving wire respectively. Through the simultaneously obtained two wire images, the angles between the wire and a vertical tine are calculated. By feedback control using wire angles measured by the developed sensor, a mass suspended by a two dimensional crane on a horizontal plane is positioned without residual vibration at a target point. Since the developed sensor system is placed near the upper end of the wire regardless of wire length, it is easy to install the developed system in conventional cranes. By using this sensor system, it is expected to automate heavy object positioning, handling and so on.

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  • Cooperative system for multiple position-controlled robots with free joint mechanisms Reviewed

    H. Osumi, M. Ono, M. Fujibayashi, M. Kagatani

    Proceedings of International Conference on Robotics and Automation   1484 - 1489   1997.4

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    This paper proposes a simple method for handling objects by cooperation of multiple position-controlled robots. In order to use position controllers for cooperation of multiple robots, it is necessary to install mechanical compliance in each robot to avoid excessive inner forces due to the mutual positioning errors. First, the compliance needed for the cooperation of position-controlled robots is reviewed. Using compliant mechanisms with free joints, cooperative control system between two industrial robots are developed. As the cooperative system with mechanical compliance has kinematic redundancy, a way to use the redundancy is proposed. Some fundamental experiments verify the effectiveness of the proposed strategy.

    DOI: 10.1109/robot.1997.614348

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  • Joystick control using redundant degrees of freedom of a cooperative system consisting of three manipulators with six wires Reviewed

    Yuhi HARA, Kosuke TORIYA, Shunsuke HAMASAKI, Hisashi OSUMI

    Transactions of the JSME (in Japanese)   89 ( 924 )   23 - 00097   2023.8

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    Authorship:Last author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.23-00097

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  • Development of a Mechanical Watch Assembly Support System Using Smart Glasses Reviewed

    Mizuki Koshiba, Junya Yamazaki, Hisashi Osumi

    Micromechatronics, Journal of the Horological Institute of Japan   65 ( 225 )   1 - 14   2021.12

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    Authorship:Last author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.20805/micromechatronics.65.225_1

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  • Development of an Algorithm for Crane Sway Suppression Reviewed

    Yasuhiro Yamamoto, Chunnan Wu, Hisashi Osumi, Masayuki Yano, Yusuke Hara

    Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)   584 - 588   2020.10

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:International Association for Automation and Robotics in Construction (IAARC)  

    DOI: 10.22260/isarc2020/0081

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  • Analysis of Energy Efficiency of a Backhoe during Digging Operation Reviewed

    Yusuke Sano, Chunnan Wu, Hisashi Osumi, Yuki Kawashima, Tomoaki Tsuda

    Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)   589 - 594   2020.10

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    Publishing type:Research paper (international conference proceedings)   Publisher:International Association for Automation and Robotics in Construction (IAARC)  

    DOI: 10.22260/isarc2020/0082

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  • Where Robot Looks Is Not Where Person Thinks Robot Looks Reviewed

    Yusuke Tamura, Takafumi Akashi, Hisashi Osumi

    Journal of Advanced Computational Intelligence and Intelligent Informatics   21 ( 4 )   660 - 666   2017.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press LTD.  

    DOI: 10.20965/jaciii.2017.p0660

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  • Development of loaded platform cart mechanism for climbing a step

    MASHIMO Hiroki, TSUNODA Fumiya, ONO Manabu, OSUMI Hisashi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P2 - E07   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Platform carts have been used in various industries to carry heavy loads. However, heavily-loaded platform carts can't climb step. Therefore, we verified height of the step that the loaded platform cart can climb through the simulation and the experiment with the actual machine. Further, we proposed a new loaded platform cart mechanism that enables climbing step.</p>

    DOI: 10.1299/jsmermd.2017.1P2-E07

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  • Reaction force analysis on scooping up of earth and sand by wheel loader

    OKUMURA Kohei, OSUMI Hisashi, SARATA Shigeru

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P2 - D02   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Authors have developed an autonomous control system for wheel loaders to automate scooping and loading operation in quarries. In our previous research it is assumed that rock piles consist of homogeneous sized grains, and reaction forces from the piles during scooping are formulated and they are verified by fundamental experiments with our mechanical simulator. However, various sized rocks exist around the faces of quarries in practice. Therefore the reaction force model of such piles is necessary to automate the scooping in quarries. In this paper, we investigate the influence of the relationship between thickness of penetrating plate and sediment particle size, and tip shape of plate in penetration resistance.</p>

    DOI: 10.1299/jsmermd.2017.1P2-D02

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  • Swing motion Control of Wire Suspension System using Gyro effect

    INOUE Takashi, HARADA Kenta, OSUMI Hisashi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P2 - H09   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>A wire suspension system with four wires is developed and a control method for the positioning of the suspended base is proposed. This system can be used for transporting heavy object, inspection of bridges by attaching a camera on the base, and so on. Since the suspended base cannot be completely restrained with four wires, the base swings against external forces or inertia forces caused by the base motions. Therefore, in this research, we propose a method to suppress the swing motions of the base by using the gyro mounted on the base. The base swing motion is eliminated by the gyro effect which is feedback controlled through an IMU sensor embedded in the base.</p>

    DOI: 10.1299/jsmermd.2017.1P2-H09

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  • Cooperative Transportation by Three Omni-directional Mobile Manipulators with Wire Mechanism

    SEKIMURA Yuta, MORISHITA Shoma, OSUMI Hisashi, AIYAMA Yasumiti

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1A1 - E05   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>This paper discusses cooperative transport system using three position controlled manipulators. However, cooperative transport using multiple manipulators has several problems. The most important problem is an internal force occurring in a conveyed object due to mutual position error of the manipulators. Therefore, we suggest a cooperative transport system using wires as mechanical compliance to solve the problem. The object is fixed by using six wires and can build the system which internal force does not produce. In addition, we devised the correction method of object's position and posture error at the positioning point due to the position error of the base of manipulators that occurred when transported the object.</p>

    DOI: 10.1299/jsmermd.2017.1A1-E05

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  • Analysis of Behavior Acting on Wheel Loader during Picking up A Massive Rock

    TSUCHIDA Kouhei, OSUMI Hisashi, SARADA Shigeru

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   1P2 - B01   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Wheel loaders used in quarries usually repeat scooping and loading actions as face operations. So it is relatively easy to automate the operation and it also contributes reduction of cost and workers. The authors proposed the efficient trajectories for scooping piles with homogeneous rocks. On the other hand, there are often massive rocks in piles at the faces of quarries. Such a massive rock is usually picked up by inserting the loader bucket into the pile just below the rock. In our previous study, it was found that the consumption energy for picking up a massive rock becomes less by choosing the pushing operation. However, it is not clear why the reaction forces become constant and how the value is determined. In this research, the relationship between the physical phenomenon and the reaction forces are analyzed and the reaction force model is developed.</p>

    DOI: 10.1299/jsmermd.2017.1P2-B01

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  • Human Visual Attention Model Based on Analysis of Magic for Smooth Human-Robot Interaction Reviewed

    Yusuke Tamura, Takafumi Akashi, Shiro Yano, Hisashi Osumi

    International Journal of Social Robotics   8 ( 5 )   685 - 694   2016.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:SPRINGER  

    In order to smoothly interact with humans, it is desirable that a robot can guide human attention and behaviors. In this study, we developed a model of human visual attention for guiding human attention based on an analysis of a magic trick performance. We measured human gaze points of people watching a video of a magic trick performance and compared them with the area where the magician intended to draw a spectator's attention. The analysis showed that the relationship between the magician's face, hands, and gaze plays an important role in guiding the spectator's attention. On the basis of the preliminary user studies on watching the magic video, we integrated a saliency map and a manipulation map that describes the relationship between gaze and hands to develop a novel human attention model. The evaluation using the observed gaze points demonstrated that the proposed model can better explain human visual attention than the saliency map while people are watching a video of a magic trick performance.

    DOI: 10.1007/s12369-016-0354-y

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  • Fastest walk control of quadruped robots for trot gait by using torque redundancy of leg joints Reviewed

    Yuhei Suzuki, Hisashi Osumi, Masafumi Iwata

    Transactions of the Japan Society of Mechanical Eengineers (C)   82 ( 842 )   1 - 12   2016.10

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Eengineers (C)  

    A way of deriving the fastest walk pattern of quadruped robots for trot gait is developed and installed into a practical robot system. As a first step, the fastest walk pattern of support legs is designed under the constraints of torque limits of leg joints and friction forces at the support leg tips. Then, the time optimal motion pattern of each swing leg is designed under the boundary conditions given by the obtained walk pattern of the support legs. The fastest walk patterns of support legs and swinging legs are designed respectively. Therefore, if the time optimal motion pattern of swinging legs doesn’t satisfy the boundary conditions given by support legs, the same procedures are iterated by modifying a velocity parameter of the support legs until the boundary conditions are satisfied.

    DOI: 10.1299/transjsme.16-00230

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  • Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism Reviewed

    Asuka Mizushina, Hayato Omori, Hiroyuki Kitamoto, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Journal of Robotics and Mechatronics   8 ( 4 )   242 - 249   2015.7

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:富士技術出版  

    Recently, planetary investigations have accumulated basic data through various aerospace explorations. However, the investigations of underground such as moonquakes, heat, and conditions of the soil have not revealed much. Therefore, the authors have developed a novel, small planetary subsurface excavation robot that uses the peristaltic crawling of an earthworm as its underground propulsion method. In this study, the authors focused on two types of geotechnical tests: pressure meter and shearing tests using the excavation robot. These tests were conducted by measuring displacement and force in the radial and vertical directions inside the soil, using the excavation robot's own hardware system. This paper describes these geotechnical tests, which used the propulsion unit of the robot and measured the soil parameters, e.g., internal friction angle, adhesibility, and elastic constant. From the experiments, the authors evaluated and discussed results by comparing with reference data. The authors confirmed that the propulsion unit could measure the soil parameters and propel itself underground at the same time.

    DOI: 10.9746/jcmsi.8.242

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  • Activity of Technical Committee for Production Automation

    OSUMI Hisashi

    Journal of the Japan Society for Precision Engineering   81 ( 10 )   889 - 892   2015

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    Language:Japanese   Publisher:The Japan Society for Precision Engineering  

    DOI: 10.2493/jjspe.81.889

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    Other Link: https://jlc.jst.go.jp/DN/JLC/20015754231?from=CiNii

  • The 15th SICE System Integration Division Annual Conference (SI2014)

    OSUMI Hisashi

    Journal of The Society of Instrument and Control Engineers   54 ( 6 )   444 - 444   2015

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    Language:Japanese   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.11499/sicejl.54.444

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  • A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis Reviewed

    A. Sanderud, T. Thomssen, H. Osumi, M. Niitsuma

    MODELING IDENTIFICATION AND CONTROL   36 ( 1 )   11 - 21   2015

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MIC  

    In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.

    DOI: 10.4173/mic.2015.1.2

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  • Estimation of Handgrip Position Based on Force Measurement During Steady Cycling Reviewed

    Yusuke Tamura, Kojiro Matsushita, Hisashi Osumi

    Journal of Science and Cycling   4 ( 2 )   71 - 72   2015

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  • Visual Attention Model for Manipulating Human Attention by a Robot Reviewed

    Yusuke Tamura, Shiro Yano, Hisashi Osumi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   5307 - 5312   2014

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    For smooth interaction between human and robot, the robot should have an ability to manipulate human attention and behaviors. In this study, we developed a visual attention model for manipulating human attention by a robot. The model consists of two modules, such as the saliency map generation module and manipulation map generation module. The saliency map describes the bottom-up effect of visual stimuli on human attention and the manipulation map describes the top-down effect of face, hands and gaze. In order to evaluate the proposed attention model, we measured human gaze points during watching a magic video, and applied the attention model to the video. Based on the result of this experiment, the proposed attention model can better explain human visual attention than the original saliency map.

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  • Modeling of human attention based on analysis of magic Reviewed

    Yusuke Tamura, Shiro Yano, Hisashi Osumi

    ACM/IEEE International Conference on Human-Robot Interaction   302 - 303   2014

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    In this study, we developed a human attention model for smooth human-robot interaction. The model consists of the saliency map generation module and manipulation map generation module. The manipulation map describes top-down factors, such as human face, hands and gaze in the input image. To evaluate the proposed model, we applied the model to a magic video, and measured human gaze points during watching the video. Based on the experimental results, the proposed model can better explain human attention than the saliency map.

    DOI: 10.1145/2559636.2559819

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  • Optimal Grasping Poses of Manipulators for Cooperative Manipulation with Passive Joints Reviewed

    Ryo Ohta, Hisashi Osumi, Yusuke Tamura

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   447 - 452   2014

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    This paper discusses an object handling system using three position-controlled manipulators. Mechanical compliance units are installed between each manipulator tip and its hand in order not to generate an excessive inner forces among manipulators caused by mutual positioning errors. From our previous studies, the kinematic conditions of the compliance units necessary for the position control based coordination are made clear and four passive joints are used here for each compliance unit to satisfy the conditions. In the system, the loads distributed to each manipulator tip are changed according to both the passive joint angles and the grasping points of the handled object. Therefore we firstly obtain the relationship between the grasping points and the distributed loads to each hand and then analyze the relationship between the passive joint angles and the loads given to each manipulator tip. Using these relationships we propose the searching scheme for the optimal grasping poses and passive joint angles. The effectiveness of the proposed scheme and the developed system are verified by a fundamental experiment and simulations.

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  • An Approach to Path Planning and Real-Time Redundancy Control for Human-Robot Collaboration Reviewed

    Audun Ronning Sanderud, Trygve Thomessen, Hideki Hashimoto, Hisashi Osumi, Mihoko Niitsuma

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   1018 - 1023   2014

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    This paper presents a control system for redundant robot manipulators that handles the path planning and redundancy control in two separate loops. The goal is to simplify industrial programming of redundant robots, by decomosing it to a familiar path planning loop, and an autonomous redundant control loop. The familiar path planning is done using an industrial robots native control system, which is already known to the operator. An external feedback loop acts as a secondary task control loop so that the redundancy in the robot is used automatically. The secondary task control is expanded from the null space projection method to a method where a parallel space to task space is modeled in joint space. The system was implemented and experimentally verified on a NACHI MR20 7-axes industrial robot with AX20 Controller. The secondary task in the experiments was an obstacle avoidance task that was tested in unknown dynamic and static environments.

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  • Analysis of Manipulationg Other's Attention for Smooth Interaction between Human and Robot Reviewed

    Akashi Takafumi, Tamura Yusuke, Yano Shiro, Osumi Hisashi

    Proceedings of 2013 IEEE/SICE International Symposium on System Integration   340 - 345   2013.12

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  • Propulsion Mechanism for a Lunar Underground Excavator Using Peristaltic Crawling Reviewed

    Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Journal of Robotics and Mechatronics   25 ( 3 )   466 - 475   2013.6

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  • Propulsion Mechanism for a Lunar Underground Excavator Using Peristaltic Crawling Reviewed

    Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Journal of Robotics and Mechatronics   25 ( 3 )   466   2013.6

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

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  • 進行波型全方向移動ロボットの変形とオドメトリを利用した省スペース移動計画 Reviewed

    小川曜義, 大澤達也, 中村太郎, 大隅久

    第18回ロボティクスシンポジア予稿集   419 - 424   2013.3

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  • 軸方向繊維強化型人工筋肉を用いた7自由度マニピュレータの制御 Reviewed

    加茂大地, 渡辺拓巳, 田中大, 中村太郎, 大隅久

    第18回ロボティクスシンポジア予稿集   485 - 491   2013.3

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  • 可変粘弾性関節を有する空気圧ゴム人工筋肉マニピュレータの瞬発力を伴う振動制御 Reviewed

    戸森央貴, 永井豪, 間島達雄, 中村太郎, 大隅久

    第18回ロボティクスシンポジア予稿集   477 - 484   2013.3

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  • Development of hexapod robot supported mechanically using pneumatic rubber artificial muscles Reviewed

    H. Tomori, Y. Hirata, T. Nakamura, H. Osumi

    Nature-Inspired Mobile Robotics   435 - 442   2013.1

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    Language:English   Publishing type:Part of collection (book)   Publisher:World Scientific Publishing Co.  

    Recently, the development of mobile robots is actively pursued. These robots are expected to have high mobility, allowing them to work in various scenarios such as rescue and exploration. Therefore, we focused on the hexapod robot for stable operation in an irregular terrain. We developed a leg using the parallel linkage mechanism and pneumatic rubber artificial muscles, and constructed a model of the legs. The model reproduced the experimental result. Then, we developed a hexapod robot which can support its weight mechanically using these legs, even without a power supply. Also, we demonstrated that our robot could walk. Furthermore, we confirmed experimentally that the robot supported loads that were about 4 times its weight.

    DOI: 10.1142/9789814525534_0055

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  • Development of an orthosis for walking assistance using pneumatic artificial muscle: A quantitative assessment of the effect of assistance Reviewed

    T. Kawamura, K. Takanaka, T. Nakamura, H. Osumi

    IEEE International Conference on Rehabilitation Robotics   2013

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    In recent years, there is an increase in the number of people that require support during walking as a result of a decrease in the leg muscle strength accompanying aging. An important index for evaluating walking ability is step length. A key cause for a decrease in step length is the loss of muscle strength in the legs. Many researchers have designed and developed orthoses for walking assistance. In this study, we advanced the design of an orthosis for walking assistance that assists the forward swing of the leg to increase step length. We employed a pneumatic artificial muscle as the actuator so that flexible assistance with low rigidity can be achieved. To evaluate the performance of the system, we measured the effect of assistance quantitatively. In this study, we constructed a prototype of the orthosis and measure EMG and step length on fitting it to a healthy subject so as to determine the effect of assistance, noting the increase in the obtained step length. Although there was an increase in EMG stemming from the need to maintain body balance during the stance phase, we observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased, and the strength of the semitendinosus muscle, which restrains the leg against over-assistance, did not increase but decreased. Our experiments showed that the assistance force provided by the developed orthosis is not adequate for the intended task, and the development of a mechanism that provides appropriate assistance is required in the future. © 2013 IEEE.

    DOI: 10.1109/ICORR.2013.6650350

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  • Soil Cutting Experiments and Evaluation of an Earth Auger for a Planetary Subsurface Explorer Reviewed

    HayatoOmori, Kitamoto Hiroyuki, Mizushina Asuka, Nakamura Taro, Osumi Hisashi, Kubota Takashi

    PROCEEDINGS OF 6TH INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN SPACE TECHNOLOGIES (RAST 2013)   941 - 946   2013

  • Piaget for the Smart Control of Complex Robotized Applications in Industry.

    Hayato Omori, Jean-Daniel Dessimoz, Hiroki Tomori, Taro Nakamura 0001, Hisashi Osumi

    ICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics   528 - 535   2013

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    DOI: 10.5220/0004425405280535

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  • A Discharging Mechanism for a Lunar Subsurface Explorer with the Peristaltic Crawling Mechanism Reviewed

    Mizushina Asuka, Omori Hayato, Kitamoto Hiroyuki, Nakamura Taro, Osumi Hisashi, Kubota Takashi

    PROCEEDINGS OF 6TH INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN SPACE TECHNOLOGIES (RAST 2013)   955 - 960   2013

  • Development and Control of 1-DOF Manipulator Using Electrostrictive Rubber Actuator Reviewed

    H. Tomori, H. Oshika, T. Nakamura, H. Osumi, K. Hashimoto, A. Nozawa

    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)   4085 - 4090   2013

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    Recently, flexible and light actuators that mimic muscle fibers have been actively researched. Here, we focused on an electroactive polymer (EAP) dielectric elastomer. To construct the actuator, the dielectric elastomer is rolled into a tube, and extended by applying a voltage across its electrodes. In this paper, we experimentally obtained a static characteristic model of the electrostrictive rubber actuator, and proposed a control method. We then incorporated the actuator into a 1-DOF manipulator, and constructed a controller from a mechanical equilibrium model of this manipulator. Finally, the constructed controller was tested in a series of experiments. The angle of the arm fell below the desired angle because of friction in the joint and the spring characteristics of actuators. However, we confirmed that the controller reduced the influence of the load by torque feedback. We also investigated the influence of joint stiffness.

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  • Time Optimal Control for Quadruped Robots by Using Torque Redundancy Reviewed

    Hisashi Osumi, Kazuya Yokohama, Kyohei Takeuchi, Ryosuke Nakamura

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   1853 - 1858   2012

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    A time optimal control algorithm for quadruped robots is developed and its effectiveness is verified by experiments and simulations. The derivation of the optimal solution consists of two steps that are the speeding up of supporting legs and that of swinging legs. The way of the speeding up of swinging legs is very similar to that of a two link manipulator developed by Bobrow. In this paper, first, a method of using torque redundancy of the robot is proposed for speeding up of supporting legs with the constraints due to ZMP, the power limits of joint actuators and the limits of available friction forces. Then, an algorithm for obtaining the fastest walking pattern in a trot gait period is developed by combining the result of the supporting legs and that of the swinging legs. The obtained walking pattern is installed in a quadruped robot SONY ERS-7 and its effectiveness is verified by experiments.

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  • Estimation of Reaction Force from Rock Piles in Scooping Operation by Wheel|rn|Loaders Reviewed

    Hisashi Osumi, Tomoya Uehara, Shigeru Sarata

    Proc. Int. Conf. on Advanced Mechatronics 2010   2010   693 - 698   2010.10

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    Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

    DOI: 10.1299/jsmeicam.2010.5.693

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  • Estimation of Reaction Force from Rock Piles in Scooping Operation by Wheel Loaders Reviewed

    Hisashi Osumi, Tomoya Uehara, Shigeru Sarata

    Proceedings of 5th Int. Conf. on Advanced Mechatronics(ICAM2010)   2010   693 - 698   2010.10

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    Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

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  • Estimation of Reaction Force from Rock Piles in Scooping Operation by Wheel Loaders Reviewed

    Hisashi Osumi, Tomoya Uehara, Shigeru Sarata

    Proceedings of 5th Int. Conf. on Advanced Mechatronics(ICAM2010)   2010   693 - 698   2010.10

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    Reaction forces acting on the bucket of a wheel loader from a scooped rock pile are modeled for autonomous control of wheel loaders. First, the behavior of the rocks in the bucket is directly observed by using a mechanical simulator. Since it is revealed that the behaviors are different in the phases of scooping, the reaction forces models are assumed in each phase. Then, the reaction forces calculated by the assumed models are compared with the measured forces by a force sensor installed into the mechanical simulator. From the experimental results, the models are verified. By using the obtained model, efficient scooping algorithm is expected.

    DOI: 10.1299/jsmeicam.2010.5.693

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  • Fault Detection using Reliable Control Method with Equivalent Transfer Functions in Multiple Feedback Loop System Reviewed

    Kaoru ISHIKAWA, Taro NAKAMURA, Hisashi OSUMI

    計測自動制御学会産業論文集   9 ( 8 )   53 - 60   2010.8

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  • Activity of Technical Committee for Production Automation

    OSUMI Hisashi

    Journal of the Japan Society for Precision Engineering   76 ( 10 )   1101 - 1104   2010

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    DOI: 10.2493/jjspe.76.1101

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  • Development of Tele-operation System for a Crane without Overshoot in Positioning Reviewed

    Hisashi Osumi, Masahiro Kubo, Shisato Yano, Keiichiro Saito

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   5799 - 5805   2010

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    A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from an operator and the small actuators are used as a regulator and feedback controlled by a wire angle sensor. Since a motion of the suspended object can be approximated as a second order system, overshoots of the object inevitably happen at the moment when the operator give a stop command to the system. To avoid this overshoots, a novel user interface is developed where operators indicate via points or target point of the object on a monitor screen from the camera imaging the scene below the crane. The system interpolates the via points by using four order functions and give the velocity commands to the crane until the inputs of the via points are stopped. The final point is regarded as the target point. From experimental results, the effectiveness of the developed control system and its control algorithm is verified.

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  • 位置サーボ系における電流フィードバック欠損時の等価伝達関数を用いたリライアブル制御 Reviewed

    石川薫, 中村太郎, 大隅久

    計測自動制御学会産業論文集   9 ( 16 )   2009.8

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  • Reliable Control During Current Loop Failure Using ETF for Position Servo System including Disturbance Observer Reviewed

    K. Ishikawa, T. Nakamura, H. Osumi

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   1041 - 1046   2009

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    A reliable control method is proposed for multiple loop control systems. If a feedback loop fails (e.g., as a result of a sensor breakdown), the control system develops an unstable fluctuation. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) for active redundancy compensation after loop failure. The ETF is used to maintain the transfer function of the entire system the same before and after loop failure. In this study, the characteristics of a reliable control system that uses an ETF were examined experimentally. A position servo system including a disturbance observer is used in the experiment. In case of feedback loop failure, the control system could not be stabilized using the disturbance observer alone; however, the ETF stabilized the control system after feedback loop failure.

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  • Reliable control using disturbance observer and equivalent transfer function for position servo system in current feedback loop failure Reviewed

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    IEEJ Transactions on Electronics, Information and Systems   129 ( 12 )   2194 - 2200   2009

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    A reliable control method is proposed for multiple loop control system. After a feedback loop failure, such as case of the sensor break down, the control system becomes unstable and has a big fluctuation even if it has a disturbance observer. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) as active redundancy compensation after the loop failure. The ETF is designed so that it does not change the transfer function of the whole system before and after the loop failure. In this paper the characteristic of reliable control system that uses an ETF and a disturbance observer is examined by the experiment that uses the DC servo motor for the current feedback loop failure in the position servo system. © 2009 The Institute of Electrical Engineers of Japan.

    DOI: 10.1541/ieejeiss.129.2194

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  • Cooperative Control System for Three Industrial Robots (Singular Configurations of Passive Joint Mechanisms) Reviewed

    Hisashi Osumi, Manabu Kagatani, Yasumichi Aiyama

    Transactions of the Japan Society of Mechanical Eengineers (C)   74 ( 748 )   2985 - 2993   2008.12

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    We propose a strategy for handling a large object by cooperation of multiple PID position-controlled manipulators and develop a cooperation system consisting of three commercial industrial robots. The developed system can handle a large object by cooperation of three robots. Three passive joint mechanisms consisting of four passive joints with electro-magnetic brakes are installed at the tip of each robot to avoid excessive inner forces due to mutual positioning errors. Since the geometrical relationships among three installed mechanisms and their joint angles must satisfy necessary kinematic conditions to avoid excessive inner forces, a simple way to check whether the necessary condition is satisfied or not is proposed. In order to investigate the effectiveness of the proposed strategy from the practical point of view, some fundamental experiments are done by using the developed system.

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  • Time Optimal Control for Quadruped Walking Robots Reviewed

    Hisashi OSUMI, Shogo KAMIYA, Yuji HASEGAWA, Kazunori UMEDA, Ryuichi UEDA, Tamio ARAI

    Transactions of the Japan Society of Mechanical Eengineers (C)   74 ( 742 )   1501 - 1507   2008.6

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    Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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  • Reliable Control Using Equivalent Transfer Function for Position Servo System in Current Loop Failure Reviewed

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS   284 - 288   2008

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    A reliable control method is proposed for multiple loop control systems. If a feedback loop fails (e.g., as a result of a sensor breakdown), the control system develops an unstable fluctuation. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) for active redundancy compensation after the loop failure. The ETF does not change the transfer function of the entire system before and after the loop failure. In this study, the characteristics of a reliable control system that uses an ETF are examined using an experimental method. A position servo system with a DC servo motor is used in the experiment. The ETF is used for motor control after current feedback loop failure.

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  • Control of Omni-Directional Mobile Platform with Four Driving Wheels Using Torque Redundancy Reviewed

    Shunsuke Amagai, Taichi Tsuji, Jabes Samuel, Hisashi Osumi

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   1996 - +   2008

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    An omni-directional moving platform with four wheels is developed and its controller is designed for tracking desired trajectories. The four wheels of the platform are torque controlled by DC servo motors independently. The generalized coordinate of the platform is three, therefore the system has one torque redundancy and one odmetry sensor redundancy which can be used for improving the control performance of the moving platform. First, ways of exploiting odmetry sensor redundancy is discussed. Then a criterion for exploiting the torque redundancy is proposed to make larger the margin of driving force, and fundamental simulations and experiments are done to show the control characteristics of the developed mobile platform.

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  • Development of force control device with high power and high resolution Reviewed

    Hisashi Osumi, Takahiro Tomiyama

    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS   949 - 954   2008

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    A force control device with high power and high resolution is developed. It consists of a spring and a small force actuator which are connected in parallel between the base plate and the output plate. By installing this device into a tip of a high power industrial robot, large forces with high resolution can be achieved under the existence of static friction. In this paper, the principle of force control device is verified by using a simple two d.o.f. experimental setup. From experimental results, the effectiveness of the developed control device and its control algorithm is verified. ©2008 IEEE.

    DOI: 10.1109/IROS.2008.4650791

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  • はじめての精密工学 ロボット工学の基礎 Reviewed

    大隅 久

    精密工学会誌   73 ( 10 )   1123 - 1126   2007.10

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  • Fast decision making of autonomous robot under dynamic environment by sampling real-time Q-MDP value method Reviewed

    Yoshiaki Jitsukawa, Ryuichi Ueda, Tamio Arai, Kazutaka Takeshita, Yuji Hasegawa, Shota Kase, Takashi Okuzumi, Kazunori Umeda, Hisashi Osumi

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   1650 - +   2007

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    In this paper, the sampling real-time QMDP value method is proposed and applied to a goalkeeper task of a soccer robot. Soccer is a challenging task for an autonomous robot that has poor computing resources and sensors, and a good subject in the study of decision making in dynamic environments. A robot frequently decides its behavior without enough observation of the environment. In the proposed method, the risk of a score is solved beforehand toward every set of position of the goalkeeper and motion of the ball. The shortage of observation is calculated and represented by particle filters. The proposed method uses the risk function and the particle filters so as to choose appropriate behavior of the goalkeeper. The experiment with an actual robot suggests that the method can decide actions reflexively toward the motion of the ball.

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  • Time optimal control for quadruped walking robots Reviewed

    Hisashi Osumi, Shogo Kamiya, Hirokazu Kato, Kazunori Umeda, Ryuichi Ueda, Tamio Arai

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10   1102 - 1108   2006

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    Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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  • Control of a redundant manipulator mounted on a base plate suspended by six wires Reviewed

    Hisashi Osumi, Masayuki Saitoh

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12   73 - +   2006

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    Two control methods of controlling a redundant manipulator mounted on a base plate suspended by six wires are proposed. By suspending the base plate by six linearly independent wires, the plate doesn't swing even if the reaction forces are applied to the plate from the moving manipulator. However, if the reaction forces become too large due to fast motion, some wires become loose and the base plate may turn over. To avoid the overturn, two ways to exploit the redundancy of the manipulator are proposed and their effectiveness is verified by simulations and experiments.

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  • Development of a Simulator of Environment and Measurement for Multiple Autonomous Mobile Robots Considering Camera Characteristics Reviewed

    Kazunori Umeda, Kazunori Asanuma, Toshifumi Kikuchi, Ryuichi Ueda, Hisashi Osumi, Tamio Arai

    Journal of Robotics Society of Japan   23 ( 7 )   878 - 885   2005.10

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    In this paper, a simulator of environment and measurement that considers camera characteristics is developed for multiple autonomous mobile robots. RoboCup 4-legged robot league is chosen as the concrete target. The simulator introduces a sever/client system, and realizes separation of each robot's information, introduction of each robot's difference and distribution of processes. OpenGL is utilized to produce virtual images. So as to make a simulator reflect real environment, sensing noises should be considered. The simulator considers the effects of blur, element noises, vignetting, lens distortion and delayed exposure for each line of the CMOS image sensor. Experiments show the similarity between actual camera images and simulated camera images. Consequently, it is possible to verify programs for multiple autonomous mobile robots on the simulator, and therefore the proposed simulator is a useful tool for effective development of algorithms.

    DOI: 10.7210/jrsj.23.878

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  • Recovery Methods for Fatal Estimation Errors on Monte Carlo Localization Reviewed

    Ryuichi Ueda, Tamio Arai, Kazunori Asanuma, Kazunori Umeda, Hisashi Osumi

    Journal of Robotics Society of Japan   23 ( 4 )   466 - 473   2005.5

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    Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

    DOI: 10.7210/jrsj.23.466

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  • Real-time decision making with state-value function under uncertainty of state estimation - Evaluation with local maxima and discontinuity Reviewed

    Ryuichi Ueda, Tamio Arai, Kohei Sakamoto, Yoshiaki Jitsukawa, Kazunori Umeda, Hisashi Osumi, Toshifumi Kikuchi, Masaki Komura

    Proceedings - IEEE International Conference on Robotics and Automation   2005   3464 - 3469   2005

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    We have proposed the real-time QMDP method for decision making of a robot under uncertain state recognition. This method evaluates every action and chooses the best one with a particle filter for estimation and a state-value function of dynamic programming. Different from our past work, this paper applies it to a complicated decision making task that yields local maxima and discontinuity on the state-value function. We then verify whether the method can choose proper actions or not in such a condition. As an example, total behavior of a goalkeeper for robot soccer is planned by using value iteration. This task contains three strategies, which are related to three kinds of local maxima respectively. Simulations, experiments and actual games have suggested that the method can decide actions effectively according as uncertain result of state estimation. © 2005 IEEE.

    DOI: 10.1109/ROBOT.2005.1570646

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  • Vibration Analysis of Mechanical System with Hysteretic Nonlinearity : 2nd Report, Vibration Analysis based on Measured Property of Actual Rubber Pads Reviewed

    Naruhiro Irino, Hisayoshi Sato, Hisashi Osumi, Kazu Watanabe, Shouichi Kumakawa, Tomonori Katayama

    Transactions of the Japan Society of Mechanical Eengineers (C)   70 ( 699 )   3070 - 3077   2004.12

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  • Firm Standing for Legged Mobile Manipulators Reviewed

    Takashi Tagawa, Yasumichi Aiyama, Hisashi OSUMI

    Journal of Robotics and Mechatronics   16 ( 3 )   312 - 318   2004.6

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  • Development of a Wire Suspended Manipulator Reviewed

    Hisashi Osumi, Masahiro Koshikawa, Yasushi Utsugi, Toshinobu Hagiwara

    Transactions of the Japan Society of Mechanical Engineers (C)   69 ( 687 )   2902 - 2906   2003.11

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    DOI: 10.1299/kikaic.69.2902

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  • Vibration Analysis of Mechanical System with Hysteretic Nonlinearity (1st Report, Description of Hysteretic Nonlinearity of Restoring Force by Preisach Distribution Function) Reviewed

    Naruhiro Irino, Hisayoshi Sato, Hisashi Osumi, Kazushi Watanabe, Shouichi Kumakawa

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   69 ( 686 )   2556 - 2563   2003

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    Suspension devices with histeretic nonlinearity like functional rubber pads have been dealt by models with types like bilinear, trilinear, Ramberg-Osgood, Wen characteristics, by which sufficient adaptation of parameters to those measured from the devices has been difficult. A method is proposed which makes it possible to discribe of the hysteretic nonlinear characteristics obtained from dynamic property test of the actual elements in terms of Preisach model. This makes it possible as well that vibration analysis of mechanical system with hysteretic nonlinearity baned on measured property of actual elements. © 2003, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.69.2556

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  • Firm standing of legged mobile manipulator Reviewed

    T Tagawa, Y Aiyama, H Osumi

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS   2031 - 2036   2003

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    In order for a legged mobile manipulator to work, it is essential to change its posture for stable standing in response to the force at the end effector. We define 'firm standing' as keeping a stable posture in working without moving the positions of the point of contact of legs and end effector. We analyze firm standing and show required degree of freedom for it. We also experiment on it by using redundant d.o.f. in 2-D space.

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  • Acquisitions of Dynamic Tactual Images for Handling Objects Reviewed

    Gen-ichiro Kinoshita, Yujin Kurimoto, Hisashi Osumi, Kohei Tada

    Journal of Robotics Society of Japan   20 ( 5 )   550 - 556   2002.7

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  • Development of a parallel wire suspension mechanism Reviewed

    Osumi, Gomi, Shimizu, Utsugi

    Proceedings of the 5th France-Japan Mechatronics Congress   187 - 191   2001.10

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  • Cooperative Control for Three Mobile Robots Transporting a Large Object

    Hisashi Osumi, Hisashi Nojiri, Yasushi Kuribayashi, Takashi Okazaki

    Journal of Robotics Society of Japan   Vol.19 ( No.6 )   744 - 752   2001.9

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  • Dynamic contact sensing of soft planar fingers with tactile sensors Reviewed

    G Kinoshita, Y Kurimoto, H Osumi, K Umeda

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS   565 - 570   2001

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    This paper focuses on a method of estimating contact force dynamically between environment and an object, which is grasped by the soft planar fingers with tactile sensors. The external contact force acting on the grasped object causes the tactile sensors to generate the displacement distributions and the for-cc distributions, We present a method of dynamic tactual image acquisitions for both distributions at the pseudo video rate. Experimental results show the measurement of the tactual image flows due to the deflection of an object and the magnitude and orientation of force vectors operating on the finger according to the external contact for-cc. The contact position of the external force acting on the grasped object is estimated within 15 % from the tactual image distributions.

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  • Development of a manipulator suspended by parallel wire structure Reviewed

    H. Osumi, Y. Utsugi, M. Koshikawa

    Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)   2000.10

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    DOI: 10.1109/iros.2000.894653

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  • Design of cooperative system consisting of multiple position controlled robots Reviewed

    H Osumi

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   43 ( 2 )   394 - 400   2000.6

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    A simple strategy for carrying a large object with the cooperation of multiple position-controlled robots is proposed. In cooperative systems handling single objects, compliance is necessary for each robot to avoid excessive inner forces caused by mutual positioning errors. However, since the majority of commercial industrial robots have PID position controllers, the necessary compliance cannot be achieved by servo systems. Thus, mechanisms consisting of passive joints are installed in a cooperative system as mechanical compliance. First, the mechanical compliance required for the cooperation of position-controlled robots is derived, From the theoretical results, it is determined that the maximum number of robots that can directly support a single object is six. Second, the statics and error characteristics of cooperative systems including compliant mechanisms are analyzed. An example of the cooperation of three mobile robots is designed using passive joint mechanisms. Finally, the strategy is extended to cooperation among an arbitrary number of mobile robots by building hierarchical structures with passive joints.

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  • Design of Cooperative System Consisting of Multiple Position Controlled Robots. Reviewed

    Hisashi OSUMI

    JSME International Journal Series C   43 ( 2 )   394 - 400   2000.6

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    DOI: 10.1299/jsmec.43.394

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  • Compliance Control of a Parallel Wire Crane Reviewed

    Hisashi Osumi, Gakuji Hashimoto, Masami Sugihara

    Journal of The Japan Society of Precision Engineering   66 ( 5 )   757 - 762   2000.5

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    A compliance control system is designed for wire suspended systems. The kinematic and static characteristics of the systems are analyzed and a rigid manipulator model with some virtual springs at the tip is derived. After showing that both position controllers and force controllers are needed for compliance control of a suspended object, a way to design each controller is described. A compliance controller for a prototype crane with three wires is designed and the crane is used for automatic assembly and cooperation between the crane and a position-controlled industrial robot. The experimental results verify the effectiveness of the compliance controller.

    DOI: 10.2493/jjspe.66.757

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  • 高コンプライアンス形触覚センサの開発とその物体表面の曲率推定への応用 Reviewed

    木下源一郎, 菅野泰夫, 大隅久, 梅田和昇, 村奈嘉与一

    電気学会論文誌C   120-C ( 3 )   390 - 396   2000.3

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  • Object location based on sensor fusion of visual and tactual sensing Reviewed

    G Kinoshita, Y Ikhsan, H Osumi

    ADVANCED ROBOTICS   13 ( 6 )   633 - 646   2000

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    The paper describes a solution of object orientation findings based upon the sensor fusion problems between visual sensing and tactual sensing. We focus on the induction of the tactual images used for identifying the orientation of an object in a sensor fusion system made up on the geodesic dome. As an object is set up at the center of the geodesic dome, its image is taken by the camera positioned at the center of the facet on the geodesic dome. Also, robot fingers take tactual images on the finger behavior. If an object's image taken by the camera is identified with the image model of the facet on the geodesic dome, the position and orientation of the camera which lakes its image are determined from the facet on the geodesic dome. As the tactual image corresponds to the image induced from the facet on the geodesic dome, the orientation of object is confirmed from the tactual image. Computer simulations show the effectiveness of the proposed method.

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  • Cooperative System of Two Industrial Robots with PID Position Controllers Reviewed

    Hisashi Osumi, Manabu Kagatani, Misuyuki Fujibayashi, Manabu Ono

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   66 ( 641 )   153 - 158   2000

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    We propose a strategy for cooperation of multiple PID position-controlled manipulators. Free joint mechanisms are installed at the tip of each manipulator to avoid excessive inner forces due to mutual positioning errors of manipulators. Since the cooperative system has kinematic redundancy due to additional passive joints for cooperation, a way to exploit the redundant degrees of freedom is proposed based on the kinematic analysis of the cooperative system. A cooperative mechanism consisting of four passive joints with electro-magnetic brakes is developed and the effectiveness of proposed algorithm is verified by experiments using two industrial robots. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

    DOI: 10.1299/kikaic.66.153

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  • Parallel wire suspension mechanisms with a hierarchical structure Reviewed

    Yasushi Utsugi, Hisashi Osumi

    Advanced Robotics   14 ( 5 )   337 - 338   2000

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    A new type of crane mechanism with a hierarchical structure in a two-dimensional (2D) space is described. In this system, even if some of the wires have length errors, none of the wires becomes loose. As a result, a feedback controller based on position control is applicable.

    DOI: 10.1163/156855300741870

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  • Optimal grasping for a parallel two-fingered hand with compliant tactile sensors Reviewed

    H. Osumi, N. Ishii, K. Takahashi, K. Umeda, G. Kinoshita

    Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)   1999.10

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    DOI: 10.1109/iros.1999.812778

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  • High compliance sensing behavior of a tactile sensor Reviewed

    G. Kinoshita, Y. Sugeno, H. Oosumi, K. Umeda, Y. Muranaka

    Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)   1999.10

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    DOI: 10.1109/iros.1999.812782

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  • Measurement of 3D shape parameters for hand-eye cooperation system by fusing tactual and visual data Reviewed

    K. Umeda, J. Furukawa, H. Osumi, G.-I. Kinoshita, S. Sakane

    Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)   1999.10

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    DOI: 10.1109/iros.1999.812810

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  • Design of Cooperative Ssytem Consisting of Multiple Position Controlled Robots Reviewed

    Hisashi Osumi

    Transactions of the Japan Society of Mechanical Engineers (C)   65 ( 634、C編 )   2405 - 2412   1999.6

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    DOI: 10.1299/kikaic.65.2405

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  • A proposal for a wire suspended manipulator: A kinematic analysis Reviewed

    T Arai, S Matsumura, Y Yoshimura, H Osumi

    ROBOTICA   17   3 - 9   1999.1

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    Industrial robots have a high positioning accuracy and stiffness but their work spaces are limited because their bases are fixed to the ground. To enlarge the work spaces, this paper proposes a novel mechanism, a wire suspended manipulator with three degrees of freedom. First, the kinematics of the mechanism is derived from both force and geometric constraints. Second, the volume of the work space is numerically calculated. After the evaluation of manipulability of the wire suspended system, guidelines for designing parameters are studied.

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  • Sensor fusion with aspect information of visual and tactual sensing Reviewed

    G. Konoshita, Y. Ikhsan, H. Osumi

    Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)   1998.10

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    DOI: 10.1109/iros.1998.727437

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  • Cooperative control of multiple mobile manipulators on uneven ground Reviewed

    H. Osumi, M. Terasawa, H. Nojiri

    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)   1998.5

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    DOI: 10.1109/robot.1998.680917

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  • Technical Targets of Human Friendly Robots

    Research Committee on Human Friendly Robot

    JRSJ   16 ( 3 )   288 - 294   1998.4

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.16.288

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  • Assembly of Wire Suspended Object by a Crane with Three Wires Reviewed

    Hisashi OSUMI, Gakuji HASHIMOTO, Masami SUGIHARA

    Proceedings of 2nd Asian Control Conference   607 - 610   1997.7

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  • Tactual servoing on an object's surface with the visual information Reviewed

    K. Umeda, G.-I. Konoshita, H. Osumi

    Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics   1997.6

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    DOI: 10.1109/aim.1997.653005

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  • Development of a Cooperative System Comprised of a Robot and a 7 D.O.F. Crane with Three Wires Reviewed

    Hisashi Osumi, Tamio Arai, Hajime Asama, Hayato Kaetsu, Masami Sugihara, Gakuji Hashimoto

    Transactions of the Japan Society of Mechanical Engineers (C)   63 ( 609,C )   1649 - 1655   1997.5

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    DOI: 10.1299/kikaic.63.1649

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  • 複数の位置制御型ロボットによる物体の操り

    大隅 久

    科研費報告書   1997.3

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  • Hole Search Planning for Peg-in-Hole Problem Reviewed

    T.Arai, M.Minami, W.Endo, H.Osumi, T.Fukuoka, K.Moriyama

    CIRP Manufacturing Systems   26 ( 2 )   119 - 124   1997.2

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  • Cooperative Strategy for Multiple Position-Controlled Mobile Robots Reviewed

    H.Osumi

    Distributed Autonomous Robotic Systems 2   374 - 385   1996.10

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  • 車輪式作業移動型ロボット制御

    大隅 久

    日本ロボット学会作業移動型ロボット研究専門委員会報告書   10 - 14   1996.10

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  • Heavy Object Handling System by Cooperation of a Robot and a Crane with Multiple Wires Reviewed

    H.Osumi, T.Arai

    Proc, The 13th Int. Symp. on Automation and Robots in Construction   113   113 - 120   1996.6

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  • Hole Search Planning for Peg-in-Hole Problem Reviewed

    T.Arai, M.Minami, W.Endo, H.Osumi, T.Fukuoka, K.Moriyama

    Proc. 28th CIRP Int. Seminar on Manufacturing Systems   99 - 104   1996.6

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  • Transferring Control by Cooperation of Two Mobile Robots. Reviewed

    Jun Ota, Yasuhiko Buei, Tamio Arai, Hisashi Osumi, Kiichi Suyama

    Journal of the Robotics Society of Japan   14 ( 2 )   263 - 270   1996.2

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    DOI: 10.7210/jrsj.14.263

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  • Cooperative strategy for multiple mobile manipulators Reviewed

    H Osumi

    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3   2   554 - 559   1996

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    This paper proposes a simple method for carrying a large object by cooperation of multiple mobile manipulators with position controllers. It is necessary for each robot to have compliance in order to avoid excessive inner forces due to the mutual positioning errors. Thus manipulators on mobile platforms are used as free joint mechanisms by locking some joints and making the rest joints free. These free joints play the role of mechanical compliance. First, compliance needed for cooperation among position-controlled robots is shown. Second, the statics and error characteristics of cooperative systems including compliant mechanisms are analyzed. Some feedback control laws for platforms moving on rough ground are proposed and discussed.

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  • Sensing of contact point between a grasped object and environment by tactual behavior of a parallel two-fingered hand Reviewed

    H Osumi, T Miyashita, K Umeda, G Kinoshita

    MF '96 - 1996 IEEE/SICE/RSJ INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS   227 - 232   1996

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    This paper proposes a method of estimating contact force between environment and an object grasped by a parallel two-fingered hand with tactile sensors developed by us. The sensors can get 2D patterns of pressure distribution and have many potential applications such as recognition of a grasped object, assembly, tasks and so on. In order to achieve assembly tasks using a multi-fingered hands, next two kinds of parameters are essential: one is the geometrical relationship between the coordinate systems of the hand and of the grasped object, and the other is the information about the position of contact point and the contact force between the grasped object and its environment. When the parallel two-fingered hand are used for assembly tasks, the geometrical relationship between the hand and the object can be easily obtained. Thus, this paper describes how to detect the contact point and to measure the contact forces by the tactile sensors. First, the principle of the sensor is explained briefly. Second the way to use the tactile sensor as a force sensor is shown. Since the information front the sensor is not enough to identify, the contact point and the contact force, additional measurements at different positions are needed. The algorithms for the tactual behaviors are proposed.

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  • 移動マニピュレータの制御 Reviewed

    大隅 久

    日本ロボット学会誌   13 ( 7 )   904 - 907   1995.10

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    DOI: 10.7210/jrsj.13.904

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  • A proposal of a wire suspended manipulator - Analysis of kinematics and work space Reviewed

    T Arai, H Osumi, Y Yoshimura, S Matsumura, M Hamade

    26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ROBOTS, SYMPOSIUM PROCEEDINGS   211 - 216   1995

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  • Cooperative control of two industrial robots with force control devices Reviewed

    H OSUMI, T ARAI, T FUKUOKA, K MORIYAMA, H TORII

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3   3   550 - 555   1995

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  • A Cooperative Assembly System Using Two Manipulators with Precise Positioning Devices Reviewed

    Tamio Arai, Hisashi Osumi, Toshiyasu Fukuoka, Kouichi Moriyama

    CIRP Annals - Manufacturing Technology   44 ( 1 )   23 - 26   1995

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    This paper proposes an assembly system with double industrial manipulators. Each manipulator consists of precise and coarse positioning devices. Compliance is introduced to accommodate positioning errors between the double manipulators. A cooperative control scheme for the two manipulators is studied. The results of experiments verify the effectiveness of the proposed scheme. This system is well suited for assembly of large-sized parts. © 1995 CIRP.

    DOI: 10.1016/S0007-8506(07)62267-7

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  • A Method for Introducing Industrial Robots to Cooperative Tasks

    OSUMI Hisashi, ARAI Tamio

    JRSJ   12 ( 7 )   114 - 119   1994.11

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    This paper proposes a simple method for applying popular PID position-controlled industrial robots to cooperative tasks with force interactions among them. For handling single object by multiple robots, force control using torque controllers is generally used to avoid excessive inner forces, however, a popular industrial robot has a PID positioncontroller. Thus it is usually very difficult to realize cooperative control with industrial robots. This paper proposes a method to introduce flexible mechanisms at the tips of robots to control forces at the end-effectors. After the installation of flexible mechanisms at the tips of robots, a closed-loop structure including flexible parts is generated. First, the number of degrees of freedom of the closed-loop structure is analized by modeling the installed flexibility as virtual joint variables. Next, the minimum number of springs, required to avoid both excessive inner forces and vibrations caused by the installed flexibility, are derived. Finally, the minimum number of actuators to control the object in arbitrary directions of 3 D space is derived for installed robots.

    DOI: 10.7210/jrsj.12.1192

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  • Holding Strategy of a Suspended Ojbect by Two Flexible Arms Reviewed

    Hisashi Osumi, Tamio Arai, Ken-ichi Sato

    Jounal of Robotics Society of Japan   12 ( 8 )   1206 - 1213   1994.11

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    This paper proposes an effective strategy of holding a swinging object by two arms for automating heavy parts assembly. Instead of human arms, this research uses two flexible arms to avoid impact forces at the moment of contact. The strategy has three modes, which are following, approaching and cooperation. One arm which touched the target object first follows the object so as to keep the contact. From the position and the deflection of the arm, the exact position of the object can be measured. In the approaching mode, the other arm is also controlled to touch the object by the feedback of the distance to the object. After the holding, two flexible arms reduce the vibration of the object by cooperative control. All the modes are realized by the same structured controllers, which control the desired force generated at the tip and the position. Experimental results show the effectiveness of the strategy.

    DOI: 10.7210/jrsj.12.1206

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  • A Method for Introducint Industrial Robots to Cooperative Tasks Reviewed

    Hisashi Osumi, Tamio Arai

    Journal of Robotics Society of Japan   12 ( 8 )   1192 - 1197   1994.11

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  • The Manipulability of Wire Suspension System Reviewed

    Hisashi Osumi, Yusi Shen, Tamio Arai

    Journal of Robotics Society of Japan   12 ( 7 )   1049 - 1055   1994.10

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    The manipulability for wire suspension mechanisms is discussed. For kinematics of a wire driving mechanism, we need not only the geometrical constraints of wire lengths but also the force constraints that each wire tension should be always greater than or equal to zero. First, the sufficient and necessary mechanical conditions corresponding to the force conditions are shown. Using these conditions, we can obtain the manipulability of a wire driving mechanism almost same as that of popular multi-link manipulators. Second, a more practical evaluation index including wire tensions that are driving forces for the object is proposed as"manipulating force set"and the way of calculation is shown. We also derive both manipulability indexes of wire suspension mechanisms in gravity field by modeling the gravitational force as a wire with the tension of the gravity. Numerical examples are given to explain the proposed methods and to show their validity. The method is expected to be effective in designing and task planning of wire driving systems including wire suspension mechanisms.

    DOI: 10.7210/jrsj.12.1049

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  • 双腕ロボットの協調制御 Reviewed

    大隅 久

    日本設計工学会誌   29 ( 10 )   375 - 381   1994.10

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  • Cooperative System between a Position-controlled Robot and a Crane with Three Wires Reviewed

    H.Osumi, T.Arai, N.Yoshida, Y.Shen, H.Asama, H.Kaetsu, I.Endo

    Prepr. 2nd Int. Symp. Distributed Autonomous Robotic Systems   59 - 62   1994.7

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  • Manipulability Indices in Multi-wire Driven Mechanisms Reviewed

    Y.Shen, H.Osumi, T.Arai

    Prepr. 2nd Int. Symp. Distributed Autonomous Robotic Systems   63 - 66   1994.7

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  • ワイヤ駆動系のメカニズム Reviewed

    大隅 久

    日本設計工学会誌   29 ( 5 )   161 - 167   1994.5

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  • SET OF MANIPULATING FORCES IN WIRE DRIVEN SYSTEMS Reviewed

    Y SHEN, H OSUMI, T ARAI

    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3   3   1626 - 1631   1994

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  • DESIGN OF MECHANISMS FOR COOPERATION AMONG MULTIPLE POSITION-CONTROLLED ROBOTS Reviewed

    H OSUMI, T ARAI

    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3   2   792 - 799   1994

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  • COOPERATIVE CONTROL BETWEEN 2 POSITION-CONTROLLED MANIPULATORS Reviewed

    H OSUMI, T ARAI

    1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4   3   1509 - 1514   1994

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  • Development of a Seven Degrees-of-Freedom Crane with Three Wires (2nd Report) - Vibration Control of a Suspended Object - Reviewed

    Hisashi Osumi, Tamio Arai, Masanobu Fujihira, Hiroaki Yamaguchi, Hayato Kaetsu, Teruo Urai, Hajime Asama

    Journal of The Japan Society of Precision Engineering   59 ( 12 )   2061 - 2066   1993.12

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    DOI: 10.2493/jjspe.59.2061

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  • Development of a Seven degrees of Freedom Crane with Three Wires (1st Report) -Inverse Kinematics of the Crane- Reviewed

    Hisashi Osumi, Tamio Arai, Hajime Asama

    Journal of The Japan Society of Precision Engineering   59 ( 5 )   767 - 772   1993.5

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    DOI: 10.2493/jjspe.59.767

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  • COOPERATIVE CONTROL BETWEEN MULTIPLE MANIPULATORS WITH FLEXIBILITY Reviewed

    H OSUMI, T ARAI, E YOSHIDA

    IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3   3   1935 - 1940   1993

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  • 動力学的冗長自由度を利用したロボット関節駆動トルクの最適化 Reviewed

    新井民夫, 邱 士軒, 斉木 啓, 大隅 久

    日本ロボット学会誌   10 ( 5 )   682 - 688   1992.10

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  • Development of a Crane Type Robot with Three Wires Reviewed

    H.Osumi, T.Arai, H.Asama

    Proc. 23rd Int. Symp. Industr. Robots   561 - 566   1992.10

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  • Development of Crane Type Robot Suspended by Three Wires Reviewed

    T.Arai, H.Osumi, M.Fujihira, H.Asama

    Proc. Int. Symp. on Distributed Autonomous Robotic Systems   211 - 216   1992.9

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  • Development of Crane Type Robot Suspended by Three Wires with Seven Degrees of Freedom Reviewed

    T.Arai, H.Osumi, M.Fujihira, H.Asama

    Proc. IFToMM-jc Int. Symp. on Theory of Machines and Mechanisms   12 ( 8 )   561 - 566,1206-1213   1992.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Japan Council of Int. Federation Theory of Machines and Mechanisms  

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  • Proposal of Dynamic Redundancy in Robot Contorl Reviewed

    T.Arai, S.H.Chiu, A.Saiki, H.Osumi

    Proc. 1992 IEEE/RSJ Int. Conf. Intelligent Robots and Systems   1921 - 1926   1992.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TheInstituteofElectricalandElectronicsEngineers,INC.(IEEE),RSJ  

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  • Construction System of Heavy Parts by the Coordinated Control between a Crane and a Robot Reviewed

    T.Arai, H.Osumi

    Proc. 9th Int. Symp. on Automation and Robotics in Constr.   2   879 - 886   1992.6

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  • Heavy Work Handling by the Cooperative Control of a Crane and a Robot Reviewed

    Tamio Arai, Hisashi Osumi

    Journal of the Japan Society of Precision Engineering   57 ( 3 )   467 - 472   1991.3

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Precision Engineering  

    The handling of a heavy work is a dangerous task. A crane is one of the suitable mechanisms to handle the heavy work, but it makes the suspended work vibration. This paper proposes a heavy work handling system which consists of a crane and a robot. A flexible arm is installed at the tip of the robot in order to avoid large reaction force when the robot grasps the swinging work. The mechanism is modelled as two springs and a mass. Based on this model, a cooperative control system between the crane and the robot is designed for positioning the work. The robot is position-controlled as a master and the crane is velocity-controlled as a follower. To reduce the vibration of the work, the crane is controlled through the feedback signals of both the deflection of the flexible arm and the velocity of the crane. Additionally a feedforward signal from the robot controller is used. Experimental apparatus is made with 3.9 kg weight. The performance of the system is studied with its simulation. Experimental results prove that the system is very efficient in handling heavy works.

    DOI: 10.2493/jjspe.57.467

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00007908026?from=CiNii

  • Asembly Robot Suspended by 3 Wires with 7 Degrees of Freedom Reviewed

    T.Arai, H.Osumi, H.Yamaguchi

    Proc. 11th Int. Conf. Assembly Automation   MS90 - 807   1990.8

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  • Assembly of Suspended Heavy Works Reviewed

    Tamio Arai, Hisashi Ohsumi, H. Makino

    CIRP Annals - Manufacturing Technology   39 ( 1 )   37 - 40   1990

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:International Institution for Production Engineering Research (CIRP)  

    Even though assembly of heavy works (10Kg to 10ton) is a dangerous task, it has not been automated. After analysing the assembly process of heavy parts, the combination of a crane and a robot is proposed in this paper. In order to avoid an impact force between parts, compliance is installed on the tip of the robot. A heavy work is suspended by a crane: it is moved by the robot and the wire is fed. The stiffness matrix is obtained about the suspended work. The vibration is absorbed at the positioning. Experimental results of the control indicate that the system is efficient. © 1990 CIRP.

    DOI: 10.1016/S0007-8506(07)60998-6

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  • Crane Control System with an Industrial Robot Reviewed

    T.Arai, H.Osumi, J.Ohta

    Proc. 5th Int. Symp. Robotics in Constr.   747   745 - 754   1988.6

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  • Development of a Position and Orinetation Measuuring System Using CCD Photo Arrays Reviewed

    T.Arai, T.Endoh, R.Yamaguchi, H.Osumi

    Proc. China-Japan Int. Symp. Prec. Mac. and Instr. Eng.   173 - 176   1987.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Jiao Tong Univ. China The Univ. of Tokyo  

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Books

  • 日本ロボット工業会機関紙 ロボット,No.275

    (報告,第21回建設ロボットシンポジウム 概要報告)

    日本ロボット工業会  2023.11 

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  • ロボット工学ハンドブック

    日本ロボット学会( Role: Contributor第Ⅱ編 ロボット構成要素,2.2 シリアルリンク)

    コロナ社  2023.3  ( ISBN:9784339046793

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    Total pages:ix, 1072p   Language:Japanese  

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  • 原子力の今と明日

    日本原子力学会( Role: Joint author3.5.1 自動機・ロボット技術)

    丸善出版  2019.3 

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    Language:Japanese   Book type:General book, introductory book for general audience

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  • Report of the JSME Research Committee on the Great East Japan Earthquake Disaster

    JSME Research Committee on, the, Great East Japan Earthquake Disaster( Role: Joint authorAPPLICATION OF ROBOT TECHNOLOGIES TO THE DISASTER SITES)

    The Japan Society of Mechanical Engineers  2014.8 

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    Total pages:119   Responsible for pages:58-73   Language:Japanese   Book type:Scholarly book

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  • はじめてのロボット創造設計改訂版

    米田完, 坪内孝司, 大隅久( Role: Joint author)

    講談社サイエンティフィク  2013.7 

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    Total pages:260   Language:Japanese   Book type:Scholarly book

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  • The Japan Society of Mechanical Engineers Mechanical Engineering Yearbook

    The Japan, Society of Mechanical Engineers( Role: Joint author18 Robotics/Mechatronics 18.1)

    The Japan Society of Mechanical Engineers  2012.8 

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    Language:Japanese   Book type:Report

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  • Research Committee on East Japan Great Earthquake Disaster Interim Report WG 3: Application of Robot Technologies to the Disaster Sites

    Hisashi Osumi( Role: Joint author)

    The Japan Society of Mechanical Engineers  2012.6 

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    Language:Japanese   Book type:Report

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  • Present state and future prospects of robot technology

    Hisashi Osumi

    Japan Construction Information Center  2012.1 

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    Language:Japanese  

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  • Robotics

    Division of Robotics, Mechatronics, JSME( Role: Joint authorChapter 2 Decomposition)

    The Japan Society of Mechanical Engineers  2011.9 

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    Total pages:194   Responsible for pages:5-23   Language:Japanese  

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  • The Japan Society of Mechanical Engineers Mechanical Engineering Yearbook

    The Japan, Society of Mechanical Engineers( Role: Joint author18 Robotics/Mechatronics 18.3 Robot Contest)

    The Japan Society of Mechanical Engineers  2011.8 

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    Language:Japanese   Book type:Report

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  • Robot Technology

    ( Role: Joint authorConstruction Robot)

    Ohmsha  2011.8 

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    Total pages:290   Responsible for pages:126-129   Language:Japanese  

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  • Cooperative Control of A Crane and An Industrial Robot

    Hisashi Osumi

    YOKENDO  2007.3 

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  • これならできるロボット創造設計

    坪内孝司, 大隅久, 米田完( Role: Sole author)

    講談社サイエンティフィク  2007.2 

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    Total pages:235   Language:Japanese   Book type:Scholarly book

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  • ホイールローダによる土砂搬送作業の自律化の試み-山祇プロジェクトの概要-

    大隅 久

    日本工業出版  2006.3 

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  • ここが知りたいロボット創造設計

    米田完, 大隅久, 坪内孝司( Role: Sole author)

    講談社サイエンティフィク  2005.9 

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    Total pages:212   Language:Japanese   Book type:Scholarly book

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  • Automatic Control of A Wheel Loader

    Hisashi Osumi( Role: Sole author)

    Japan Construction Machinery and Construction Association  2005.2 

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    Responsible for pages:23-28   Language:Japanese   Book type:Scholarly book

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  • はじめてのロボット創造設計

    米田完, 坪内孝司, 大隅久( Role: Sole author)

    講談社サイエンティフィク  2001.9 

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    Total pages:229   Language:Japanese   Book type:Scholarly book

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  • Cooperative Control of Three Mobile Robots for Transporting A Large Object

    H.Osumi, H.Nojiri, Y.Kuribayashi, T.Okazaki( Role: Sole author)

    Nippon Hyoronsha  2000.9 

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    Responsible for pages:421-426   Language:English   Book type:Scholarly book

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  • Simulative Experiment on Precise Tracking for High-Density Optical Storage Using a Scanning Near-field Optical Microscopy Tip

    T.Hirota, Y.Takahashi, T.Ohkubo, H.Hosaka, K.Itao, H.Osumi, Y.Mitsuoka, K.Nakajima( Role: Sole author)

    信山社  2000.9 

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    Responsible for pages:327-332   Language:English   Book type:Scholarly book

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  • Cooperative Control of Three PID PositionControlled Robots with Passive Joint Mechanisms

    H.Osumi, M.Kagatani( Role: Sole author)

    IEEE,Korea Fuzzy Logic and Intelligent Systems Society(KFIS), RSJ  2000.6 

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  • Cooperative Strategy for Multiple Position-Controlled Mobile Robots

    Springer-Verlag (Eds, H.Asama, T.Fukuda, T.Arai, I.Endo( Role: Sole author)

    1996.10 

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    Responsible for pages:374-385   Language:English   Book type:Scholarly book

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MISC

  • S1510102 Kinematics and Statics of Manipulator Suspended by Four Cables

    HARADA Kenta, OSUMI Hisashi

    Mechanical Engineering Congress, Japan   2015   "S1510102 - 1"-"S1510102-5"   2015.9

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Nowadays aged bridges have been increasing rapidly in Japan and efficient inspection systems are strongly required. In this study, we develop a manipulator suspended by four cables as an inspection system for bridges. The manipulator suspended by four cables has a large weight capacity and wide range of movement that is enough to inspect every corner of the bridge. In this paper the kinematics model is defined and the stiffness matrix of the manipulator at an equilibrium point is derived. Modeling each cable as a stiffness matrix and considering the relationship between the displacement of the manipulator and that of each cable attached point on the manipulator, it is possible to derive the stiffness of the manipulator easily. Using this model, it is shown that the manipulator is moved toward the direction of the short-side of a bridge and rotated around that of long-side easily by crosswind.

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  • 2A1-I07 Development of a mechanism for riding over a step for a walker for an aged person

    TSUNODA Fumiya, TANADA Mizuki, ONO Manabu, TAMURA Yusuke, OSUMI Hisashi

    2015   "2A1 - I07(1)"-"2A1-I07(2)"   2015.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In aging society, there is a growing importance of a walker for an aged person helping with the walk. However, it is hard for a walker to ascend a step. In this paper, we developed a new mechanism using a sled-like shape for riding over a step. We regarded the angle against a step as an important parameter and focused attention on it. Based on a simulation of riding over a step and the theoretical value of the impact force, an optimal angle of the sled was obtained. We will take this result into account and develop the actual machine.

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  • 2A1-Q06 Path Planning of an Overhead Crane in Consideration of Moving Obstacles

    NEGISHI Masaki, NAKAMURA Ryutaro, TAMURA Yusuke, OSUMI Hisashi

    2015   "2A1 - Q06(1)"-"2A1-Q06(2)"   2015.5

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    We developed a tele-operation system for a crane. The crane consists of a large actuator that transports suspended objects and a small actuator that is used as a regulator and feedback-controlled by a wire angle sensor. The operation system can convey the suspended objects safely and efficiently by moving a crane with input signals from screen click interface. However, the suspended object collides with obstacles when dynamic obstacles exist on a conveyance course. Therefore, we propose an algorithm to generate the conveyance course that can avoid dynamic obstacles automatically. The algorithm enables the suspended objects to avoid an obstacle by changing the moving velocity of the suspended objects in the two-dimensional direction that is perpendicular to the gravity direction. We verified the effectiveness of the algorithm through a conveyance experiment.

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  • 1P1-H05 Development of loads and moments measurement system for analysis of riding posture during pedaling

    MOTOYA Hideaki, TAMURA Yusuke, OSUMI Hisashi

    2015   "1P1 - H05(1)"-"1P1-H05(2)"   2015.5

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    To observe one's own motion is very important in improving one's skills of bicycle riding. Though there are many elements about riding states of a bicycle, especially in this paper, we focus on the loads and moments applied to a handle and a saddle. Then, we propose a system that measures forces and moments of a handle and a saddle to analyze one's skill. We visualize the important elements; forces and moments by proposed measurement system in this paper.

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  • 2P1-V02 Cooperative transportation control of three omni-directional mobile manipulators using passive joint mechanism

    OTA Ryo, MORITA Kazuki, TAMURA Yusuke, OSUMI Hisashi

    2015   "2P1 - V02(1)"-"2P1-V02(2)"   2015.5

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    In this study, a passive joint mechanism is attached to the hand of each manipulator to prevent the generation of the internal forces during cooperative transportation by multiple mobile manipulators. The mechanism enables cooperative transportation by position control. However the loads for each manipulator changes according to the grasping pose by the characteristics of the mechanism. In this paper, first, we propose a method of transportation considering the characteristics of the mechanism. Then, we verify the effectiveness of the proposed method by experiments.

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  • 1A1-S01 Visual Attention Model of Effect of Robot's Posture on Area of Human's Attention

    AKASHI Takafumi, TAMURA Yusuke, OSUMI Hisashi

    2015   "1A1 - S01(1)"-"1A1-S01(4)"   2015.5

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    Smooth interaction between human and robot is necessary for coexistence of human and robot. Humans usually interact with each other smoothly by using gestures, thus we focused on them. We conducted two experiments in order to investigate a relationship between human attention and robot's posture. According to the result, there is a difference between robot's point of gaze and position of human's attention. Then we proposed a computational model of robot's posture that provides appropriate rotation angles of motors of arms and head to draw human's attention considering the difference. At last, from the experiments, we showed relationships between the rotation angles of motors and position/size of human's attention. The relationships contribute to develop a computational model of robot's posture that enables robot to smoothly interact with humans.

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  • 2A2-O09 Design of Fast Walk Trajectory for Quadruped Robots during State Transition between Two Arbitrary States

    IWATA Masafumi, SUZUKI Yuhei, TAMURA Yusuke, OSUMI Hisashi

    2015   "2A2 - O09(1)"-"2A2-O09(2)"   2015.5

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    Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. The fastest trot walk and the trajectory of swing legs have already been obtained by our previous study. In this study, we designed velocity trajectories of the body and swing legs. Then, the design method of velocity trajectory that can accelerate to maximum speed in the shortest time and can decelerate to stop in the shortest time is established by combining velocity trajectory of the acceleration part and deceleration part of the body. Finally, we verified the simulation results.

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  • 2A1-Q01 Motion analysis of wire suspended system taking into account a sag of wire

    HARADA Kenta, OSUMI Hisashi

    2015   "2A1 - Q01(1)"-"2A1-Q01(3)"   2015.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Parallel wire suspended system has a large weight capacity and wide range of movement as a positioning mechanism for heavy objects. In many researches of parallel wire suspended system, a sag of wire has been ignored. However, it seems that using the model that taking into account a sag of wire improves accuracy of the position control of parallel wire suspended system. In this paper, a calculation method of kinematics and stiffness takes into consideration a sag of wire is proposed. Using this method, it is shown that light weight of suspended object and high linear density of wire make large displacement by a sag and reduce the stiffness of the system.

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  • B-8 Estimation of Hand Grip Position Based on Measurement of Load During Cycling

    TAMURA Yusuke, MATSUSHITA Kojiro, OSUMI Hisashi

    Symposium on sports and human dynamics   2014   "B - 8-1"-"B-8-6"   2014.10

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Riding posture as well as leg motion is very important for cycling. To improve riding skills, it is very useful for riders to show their riding posture during cycling. In this study, we aim for developing a method to estimate a rider's posture only using sensors attached to a bicycle or the rider. For the first step, we propose a method to estimate hand grip position. The method uses Support Vector Machine based on the observed data from a 6-axis force/torque sensor installed at an ahead stem. Through the experiments, our estimation method achieved both high precision and high recall.

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  • S1510103 Analysis of scooping a massive rock by a wheel loader

    OSUMI Hisashi, HAYASHI Yoshikazu, SUDA Hiroyuki, FUJIWARA Takuya, IWASE Hirofumi, SARATA Shigeru

    Mechanical Engineering Congress, Japan   2014   "S1510103 - 1"-"S1510103-3"   2014.9

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    A method of scooping rock piles automatically by wheel loader has been proposed until now. In actual rock piles, many massive rocks exist, which hasn't been considered yet. So, a new method of scooping of a massive rock buried in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of a massive rock by a miniature wheel loader with the same bucket driving mechanism as an actual wheel loader, and their horizon reaction forces are analyzed.

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  • 3A1-N03 Development of load measurement system for bicycle(Sense, Motion and Measurement (1))

    MOTOYA Hideaki, TAMURA Yusuke, OSUMI Hisashi

    2014   "3A1 - N03(1)"-"3A1-N03(2)"   2014.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    To observe one's own motion in real time is very important in improving one's sports skills. A growing number of people are enjoying cycling as a sport. Their riding skill has to be improved for keeping their safety. Then, we propose a system that presents riding states to a bicycle rider for improving his riding skill. Though there are many elements about riding states, especially in this paper, we focus on the balance of the load applied to some points of a bicycle; a handlebar and a saddle. Finally, we verified that the proposed system is effective through an experiment.

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  • 2A1-W01 A proposal that an algorithm of searching for grasping points considering the pose of grasping object at transportation(Cooperation Control of Multi Robots)

    MORITA Kazuki, OTA Ryo, OSUMI Hisashi, TAMURA Yusuke

    2014   "2A1 - W01(1)"-"2A1-W01(4)"   2014.5

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    A transportation system by cooperation of several manipulators has been developed until now. In this report, a practical method of determining grasping points of manipulators is proposed so that the maximum loads for each manipulator shouldn't exceed the payload capacity of the manipulators. First, we propose a searching scheme for grasping points so as not to exceed the load capacity for arbitrary trajectories of position and orientation of the transported object. Then, we verify the effectiveness and efficiency of the scheme by simulations.

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  • 1P1-K06 Behavior analysis of soil in bucket for autonomous loading wheel loaders(Robotics and Mechatronics in Construction and Demolition)

    IWASE Hirofumi, OSUMI Hisashi, MORI Daisuke, SARATA Shigeru

    2014   "1P1 - K06(1)"-"1P1-K06(3)"   2014.5

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    Authors have developed an autonomous control system for loading rocks on a dump truck which can make arbitrary shapes of a rock pile on the loading platform. In order to realize such a system, it is necessary to analyze the behaviors of rocks fallen from the bucket of the wheel loader. However, the calculated shapes based on the behavior the bucket are not enough. Therefore the rock behaviors are carefully observed by a new developed image processing system and the mechanism of slope failure of rocks in the bucket in this paper.

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  • 1A1-P06 Development of a self-contained hexapod robot supported mechanically with artificial muscles(Walking Robot (1))

    TOMORI Hiroki, HIRATA Yusuke, NAKAMURA Taro, OSUMI Hisashi

    2013   "1A1 - P06(1)"-"1A1-P06(4)"   2013.5

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    Recently, development of mobile robots is actively pursued. These robots are expected to work in various situations such as rescue and exploration. Therefore, we developed a leg using pneumatic rubber artificial muscles and constructed a model of the legs. Then, we developed a hexapod robot which can support its weight mechanically even without power supply using these legs. The robot supported about 4 times as much load as its own weight floating idling legs in experiment. Furthermore, the robot walked with load. And we concluded that the cause of reduction in a walking speed is friction of a transverse direction to a direction of movement of the legs. In the future, we plan to decrease unnecessary friction of the leg, and mount a compressor, a power supply, and a tank in the robot.

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  • 1A1-P01 Design of Swing Legs at Time Optimal Control for Quadruped Robots(Walking Robot (1))

    IWATA Masafumi, NAKAMURA Ryosuke, OSUMI Hisashi, TAMURA Yusuke

    2013   "1A1 - P01(1)"-"1A1-P01(4)"   2013.5

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    Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. Support legs are modeled as five-link manipulators and swinging legs are modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, the path of swing legs was designed as a horizontal line for simplicity, so the tips of the swing legs were dragged and robot could not walk at theoretical velocity. A new trajectory of the leg tips is designed to avoid the dragging.

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  • 1A1-D04 Development of Orthosis for Walking Assistance with Pneumatic Rubber Artificial Muscle : Quantitative evaluation of the assistant effect(Rehabilitation Robotics and Mechatronics (1))

    KAWAMURA Takuma, TAKANAKA Kenta, NAKAMURA Taro, OSUMI Hisashi

    2013   "1A1 - D04(1)"-"1A1-D04(4)"   2013.5

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    In recent years, the population that requires assistance with walking has increased owing to a decrease in leg muscular power with age. To prevent muscle weakness and expand their sphere of activities, we develop the orthosis for walking assistance using a pneumatic artificial muscle to assist leg muscular power. In order to judge the availability of the orthosis, we measure the effect on assistance quantitatively. EMG and step length are measured with assistance on healthy subject. We observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased. And step length is increased as a result of assistance. I think these results mean that a person with little muscular strength can walk like a healthy person.

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  • 1A2-P18 Motion Control of a Wire Suspended Hand(Mechanism and Control for Wire Actuation System)

    WAKI Masahiro, TAMURA Yusuke, OSUMI Hisashi

    2013   "1A2 - P18(1)"-"1A2-P18(4)"   2013.5

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, we propose a motion trajectory for a wire suspended manipulator to reach as quickly as possible to the target position. The effectiveness of the obtained trajectory is verified by simulations and experiments.

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  • 1A1-P02 Curved Walking for Quadruped Robots(Walking Robot (1))

    FUJIOKA Toru, OSUMI Hisashi, NAKAMURA Ryosuke

    2013   "1A1 - P02(1)"-"1A1-P02(4)"   2013.5

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    A time optimal control method for quadruped walking robots is developed and installed into a practical robot system. The fastest straight walking has already been obtained by our previous study. Though that is only straight walking, moving range is restricted. Therefore, the purpose of this study is theory construction of curved walking for quadruped robots because of increasing moving range and earlier arriving at target. By means of deriving curved path stroke of robot body, placing position of legs, and dynamic equation of robot body, we obtain it.

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  • 1A1-P19 Development of the maintenance robot in the mixing tank(Mobile Manipulation Robot)

    TANAKA Tomoya, SANNOHE Daisuke, MORISHITA Yosuke, NAKAMURA Taro, OSUMI Hisashi, TANAKA Mitsugu

    2013   "1A1 - P19(1)"-"1A1-P19(4)"   2013.5

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    In this study, we developed two types of maintenance robots using a pneumatics artificial rubber muscle for a jacket inside a mixing tank. One is an excavation robot for cleaning the inside of the jacket, and the other is a polishing robot for inspecting the walls. The excavation robot consists of five units and four joints. This robot mimics the peristaltic crawling motion of an earthworm. On the other hand, the polishing robot consists of five units, a metal brush and two wing parts. This robot polishes the walls inside the jacket. Three types of experiments were performed with the two robots. One of the experiments was a driving test inside a various vertical walls. Second was an excavation test inside the jacket. Third was to eliminate sediment on the local walls.

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  • 1A1-Q12 Method for Scooping Massive Rock by Wheel Loader(Robotics and Mechatronics in Construction and Demolition)

    FUJIWARA Takuya, MORI Daisuke, OSUMI Hisashi, SARATA Shigeru

    2013   "1A1 - Q12(1)"-"1A1-Q12(4)"   2013.5

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    We have proposed scooping homogeneous rock piles automatically by wheel loader until now. However actual rock piles are not homogeneous because they include massive rocks which haven't been considered yet. So, a new method of scooping of a massive rock in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of two type models assumed massive rock by a miniature wheel loader, and their horizon reaction forces are formulated. In addition, the amount of energy required to scoop a massive rock is calculated to design an optimal bucket trajectory.

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  • 2A2-D04 Dynamic characteristics control of 2-degree of freedom manipulator with artificial muscle and differential gear by disturbance observer(Mechanism and Control for Actuator (2))

    WATANABE Takumi, KAMO Daichi, TANAKA Dai, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A2 - D04(1)"-"2A2-D04(4)"   2013.5

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    Recently, the demand for robots that operate in the fields of nursing and human life have increased due to the aging population and falling birthrates. Since these robots are intended to operate near humans, they are preferable to be light, soft and safe. To satisfy these requirements, we adopt a pneumatic artificial muscle as an actuator of robot manipulator. However, the McKibben-type artificial muscles that are most commonly used have several drawbacks. Therefore, we developed a straight-fiber-type artificial muscle, and developed two degrees of freedom artificial muscle manipulator with a differential gear mechanism. However, the interference occurs in unintended directions in this mechanism because the rotation speed of right and left gears respectively differs. To address this problem, we introduce the disturbance observer (DOB) in the control system. We control the response of right and left gears by disturbance observer and reduce the interference.

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  • 2A2-B11 Development of a mechanism for step-climbing of a walker for an aged person(Welfare Robotics and Mechatronics (2))

    OYANAGI Toru, TANADA Mizuki, ONO Manabu, OSUMI Hisashi, TAMURA Yusuke

    2013   "2A2 - B11(1)"-"2A2-B11(2)"   2013.5

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    There is a growing demand for a walker for an aged person. It is a serious challenge to climb a step by the walker. A mechanism for step-climbing of the walker have been commercialized. However, a considerable amount of force is necessary to climb the step by using it. It is also expensive and has a complex mechanism. Therefore, we work on the development of a new mechanism for step-climbing of the walker. In this paper, we propose a new mechanism that focuses on a front wheel of the walker to climb a step. We verify the effectiveness of it by simulation.

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  • 1A2-P19 Evaluation of overhead crane trajectory(Mechanism and Control for Wire Actuation System)

    NEGISHI Masaki, MASUDA Hikaru, OSUMI Hisashi, TAMURA Yusuke

    2013   "1A2 - P19(1)"-"1A2-P19(4)"   2013.5

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    A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from screen click interface and transports suspended objects. The small actuators are used as a regulator and feedback controlled by a wire angle sensor. If the operator plots some points, the transportation time is longer in proportion to a number of plots. Therefor we generate the trajectory to shorten the transportation time. We make possible to derive the route error caused by superposing the trajectory. In the area with obstacle the possible transportation area considering the route error is derived.

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  • 1A1-B09 Development of Endoscopic Device Veering-out the Latex Tube with Jamming of Granular Materials(Medical Robotics and Mechatronics (1))

    YANAGIDA Takaichi, ADACHI Kazunori, NAKAMURA Taro, OSUMI Hisashi

    2013   "1A1 - B09(1)"-"1A1-B09(2)"   2013.5

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    This paper describes the development of an endoscopic device veering-out the latex tube with jamming of granular materials. Colorectal cancers can be cured completely if they are discovered early with a large intestine endoscope. While the endoscope can be used to screen and heal this cancer, its operation is difficult. Peculiarly difficult operation is to pull up a sigmoid colon. In this study, to solve the difficulty associated with the use of this endoscope, we consider that an endoscope is passed through a sigmoid colon by simply pressing without the need to pull up the sigmoid colon. Therefore we propose an endoscopic device veering-out the latex tube with jamming of granular materials. First this device can automatically set flexible tube in a sigmoid colon by veering-out the tube and metamorphose hardness of the tube by jamming of granular materials. Secondly endoscope is easy passed through in the hard tube by only pushing. In this paper, we executed stiffness experiment to select jamming granular. Moreover we perform driving test of veering-out the latex tube to establish whether the method can automatically set flexible tube in a sigmoid colon.

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  • 2P1-P14 Analysis of Controlling Other's Attention for Smooth Interaction between Human and Robot(Communication Robot)

    AKASHI Takafumi, TAMURA Yusuke, YANO Shiro, OSUMI Hisashi

    2013   "2P1 - P14(1)"-"2P1-P14(2)"   2013.5

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    Understanding and predicting human's behavior by robot is necessary for smooth interaction between human and robot. Human achieve them by guidance of other's behavior, especially controlling attention. Positional relationship between magician's face, hand and the magician's intended area affects controlling attention and we deal it as hypothesis. To test the hypothesis, we carried out the experiment of measuring of point of gaze with magic videos and analyzed the result of the experiment. As the result, we confirmed the positional relationship between magician's hand and face (gaze) affects controlling of attention. It makes the robot be able to leading other's behavior.

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  • 2P1-M07 Excavation Evaluation of Excavation Mechanisms for Planetary Underground Explorer Robot(Space Engineering and Robotics and Mechatronics)

    OMORI Hayato, Kitamoto Hiroyuki, Mizushina Asuka, NAKAMURA Taro, KUBOTA Takashi, Osumi Hisashi

    2013   "2P1 - M07(1)"-"2P1-M07(4)"   2013.5

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    Planetary subsurface exploration has a possibility to find trace of life ,new substances and origin of our planet. We have therefore developed a planetary subsurface explorer robot which has a propulsion unit and excavation. The prototype robot showed good excavation performance. However, both units were separately controlled to achieve the excavation. In order to combine the systems, the process of excavation is required to reveal. This paper describes the process of the cutting resistance from experiments for the first step. A 6 axial force sensor measures the resistance against the excavation part. We carried out two experiments, e.g. the pushing force experiment and rotation speed. They showed good excavation results.

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  • 2P1-M04 Development of a Discharging Unit for a Planetary Subsurface Excavation Robot with Peristaltic Crawling Mechanism(Space Engineering and Robotics and Mechatronics)

    MIZUSHINA Asuka, OMORI Hayato, KITAMOTO Hiroyuki, NAKAMURA Taro, KUBOTA Takashi, OSUMI Hisashi

    2013   "2P1 - M04(1)"-"2P1-M04(4)"   2013.5

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    It is important to investigate the underground of the planets in terms of the elucidation of the planet's origin and a development of the bases that human can work on the planets. Therefore, we have developed a planetary subsurface excavation robot with peristaltic crawling mechanism. This robot consists of two units; a propulsion unit and an excavation unit. The propulsion unit has three subunits using a peristaltic motion. The excavation unit has an earth auger. But, the existing robot can't excavate without a discharging unit because the soil isn't smoothly discharged from a spout when it reaches below surface. So, we develop a discharging unit to solve this problem. Then, we have an excavating experiment with the robot in order to check the capacity of the discharging unit. Thus, we confirmed that the robot could discharge the soil by the discharging unit.

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  • 1A2-A01 Cooperative Transportation by Omni Directional Mobile Manipulators Considering Suspension Characteristics of Platforms(Cooperation Control of Multi Robots)

    NISHIMURA Masumi, OTA Ryo, OSUMI Hisashi, TAMURA Yusuke

    2013   "1A2 - A01(1)"-"1A2-A01(4)"   2013.5

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    Cooperative transportation by multiple mobile manipulators is required for transporting large and heavy objects. However the internal forces generated in transporting object caused by positioning errors of platforms are the problem. The problem can be solved if robots have a compliance mechanism. In this paper, a method of using suspensions installed in mobile platform as a compliance mechanism is proposed.

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  • 2A2-F04 Development of a tube insertion type peristaltic pump(Biorobotics (1))

    KIMURA Yoshiki, BAN Ryosuke, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A2 - F04(1)"-"2A2-F04(4)"   2013.5

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    A pump capable of transporting high-viscosity fluids and solid-liquid mixtures is required in various industrial settings. Turbine-type pumps, piston-type pumps and squeeze-type pumps are often used to transport high-viscosity fluids and solid-liquid mixture. However, these types of pumps have disadvantages. Hence, an innovative transport system is desired. In this paper, we focus on bowel peristalsis as a model for a mechanism that can transport fluids, such as sludge with little water. We developed a peristaltic pump based on the bowel mechanism by using an artificial rubber muscle, and confirmed its capabilities. But this pump changes diameter and length when it transport fluid. So we developed New peristaltic pump and we measure flow rate.

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  • 2A2-F06 The development of a conveying equipment using the mobile mechanism of traveling waves propagation(Biorobotics (1))

    MIZOTA Yutaka, TAKAHASHI Kazutoshi, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A2 - F06(1)"-"2A2-F06(4)"   2013.5

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    In a past study, we developed the mobile mechanism of traveling wave propagation for wall climbing robot. This mobile mechanism is able to use the conveying equipment. In case of using this conveying equipment, the conveyance direction changes by the shape of the carriers. Carriers of the shape to step over the waves more than two is conveyed to the opposite direction of the generated wave. On the other hand, carriers of the shape that is smaller than a wave is conveyed to the direction of the generated wave. In this paper, we developed a conveying equipment using the mobile mechanism of traveling wave propagation and performed the experiment.

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  • 2A1-P01 Development of a peristaltic crawling robot for pipe inspection which can pass through 1-inch gas pipe with continuous elbow pipe(Mobile Robot with Special Mechanism (1))

    KISHI Tatsuya, IKEUCHI Megumi, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A1 - P01(1)"-"2A1-P01(4)"   2013.5

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    The 1-inch gas pipes are used in houses and between gas meters and the main pipe which lies under the road, and requires regular inspection. However, an endoscope has the limit of the scope on inspection. In addition, in-pipe robots cannot pass through a 90-degree elbow, whose radius of curvature equals its inside diameter. In this study, we developed the peristaltic crawling robot with pneumatic artificial muscles for 1-inch gas pipes. This robot can pass through the elbow horizontally and vertically. In addition, this robot can be equipped an endoscope. However, this robot cannot pass through the continuous elbows. It lies in the actual environment certainly. In this paper, to use a robot in the actual environment, we developed the robot which can pass through the continuous elbows. We experimentally confirmed that the robot can pass through the continuous elbows.

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  • 2A1-P08 Development of an omni-directional wall climbing robot equipped with permanent magnet unit(Mobile Robot with Special Mechanism (1))

    OSAWA Tatsuya, OGAWA Teruyoshi, SUZUKI Yousuke, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A1 - P08(1)"-"2A1-P08(4)"   2013.5

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    The traveling wave type omni-directional mobile robot imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism for moving on ferromagnetic surface and also the traveling wave type omni-directional wall climbing robot using developed magnetic adhesion mechanism. Furthermore, we confirmed the performance of this robot through experiments.

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  • 2A2-D02 Motion control of instantaneous force for manipulator with variable viscoelasticity joint(Mechanism and Control for Actuator (2))

    MAJIMA Tatsuo, TOMORI Hiroki, NAGAI Suguru, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A2 - D02(1)"-"2A2-D02(4)"   2013.5

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    Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. In contrast, humans perform motions with instantaneous force-as in a jump or throw-via variable viscoelastic characteristics. Therefore, we developed a manipulator with variable viscoelastic joint using an artificial muscle and a magnetorheological(MR) brake. Furthermore, we generated instantaneous force, and the dead and rise times decreased compared to the conventional method. In this paper, we controlled the arm position after arbitrary instantaneous force by applying equilibrium of force to the joint. Furthermore, we controlled the arm vibrations by controlling the MR brake using an evaluation function. The results obtained were quite satisfactory.

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  • 2A2-F05 Development of a peristaltic crawling earthworm robot for sewer pipe inspection(Biorobotics (1))

    HARIGAYA Kensuke, UCHIYAMA Koichi, TANAKA Tomoya, NAKAMURA Taro, OSUMI Hisashi

    2013   "2A2 - F05(1)"-"2A2-F05(4)"   2013.5

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    This paper describes the development of a robot to inspect narrow sewer pipes. Periodic inspections of sewer pipes are necessary to prevent accidents such as sagging of road. But, the means to inspect narrow sewer pipe are limited. For example, conventional endoscopes are difficult and sometimes impossible to pass through a complex network of pipes. To deal with this issue, we developed a peristaltic crawling robot that imitates the locomotion of an earthworm. The actuator of the robot is composed of straight fiber type artificial rubber muscles that contract and extend using air pressure. Additionally, we developed new method that mounts air solenoid valve to developed robot. Therefore, we prevent developing robot from decrease of the speed that occurs by traveling long distance. In order to shorten the time of expansion and extension of artificial muscle, we conducted three methods that made improvement. Finally, we performed calculated the speed of developing robot.

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  • Robot Technologies Applied to the Damaged Area and Subjects of Future Investigation

    OSUMI Hisashi

    Journal of the Japan Society of Mechanical Engineers   115 ( 1123 )   352 - 353   2012.6

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  • 2P1-G09 Transport experiment of a Wire Suspended Moving Hand(Mechanism and Control for Wire Actuation System)

    WAKI Masahiro, OSUMI Hisashi

    2012   "2P1 - G09(1)"-"2P1-G09(2)"   2012.5

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, a motion control algorithm for designing a motion trajectory for the suspended manipulator to move to its target point as quickly as possible. The effectiveness of the obtained trajectory is verified by simulations and experiments.

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  • 2A2-U02 Time Optimal Control for Quadruped Robots by Considering Transition of Arbitrary States(Walking Robot (2))

    TAKEUCHI Kyohei, NAKAMURA Taro, OSUMI Hisashi

    2012   "2A2 - U02(1)"-"2A2-U02(4)"   2012.5

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    Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. As the fastest trot walk has already been obtained by our previous study, a method for obtaining the fastest walking pattern applicable to the transition between the rest state and the fastest trot walk state is proposed and its effectiveness is verified in this paper. The developed method here is also available for obtaining the fastest walking pattern between two arbitrary states. From the simulation and experiment, the effectiveness of the developed control algorithm is verified.

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  • 1A2-G04 Scooping a Massive Rock by Wheel Loader(Robotics and Mechatronics in Construction and Demolition)

    FUJIWARA Takuya, OSUMI Hisashi, SARATA Shigeru

    2012   "1A2 - G04(1)"-"1A2-G04(2)"   2012.5

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    A method of scooping rock piles automatically by wheel loader has been proposed until now. In actual rock piles, many massive rocks exist, which hasn't been considered yet. So, a new method of scooping of a massive rock buried in rock piles is proposed. As a fundamental experiment, horizon reaction forces acting on the bucket are measured during the scooping of a massive rock by a miniature wheel loader with the same bucket driving mechanism as an actual wheel loader, and their horizon reaction forces are analyzed. In addition, the amount of energy required to scoop a massive rock is calculated to generate an optimal bucket trajectory.

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  • 1A2-L07 Development of the excavation robot with the peristaltic motion for investigation of the moon subsurface(Space Engineering and Robotics and Mechatronics(1))

    KITAMOTO Hiroyuki, OMORI Hayato, NAGAI Hiroaki, NAKAMURA Taro, OSUMI Hisashi, KUBOTA Takashi

    2012   "1A2 - L07(1)"-"1A2-L07(4)"   2012.5

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    Excavation of the moon has a great potential for scientific progresses and space explanations, but the moon subsurface is unrevealed much. So, we have developed an excavation robot with peristaltic crawling mechanism. The robot consists of a propulsion mechanism and excavation mechanism. The propulsion mechanism has 3 propulsion units using a peristaltic motion, and the excavation mechanism comprised of an earth auger. Propulsion unit consists of a control unit and a CE (contraction and extension) unit. The CE unit has Dual-pantograph mechanism which is controlled by belt drive system. We had several experiments with the developed excavation robot. From these experiments, we confirmed the propulsion mechanism could move forward without slipping, and a developed excavation robot could burrow reddish soil.

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  • 2A1-I02 Development of a Wire Suspended Three-Dimensional Moving Hand(Mechanism and Control for Wire Actuation System)

    WAKI Masahiro, MATSUMOTO Toru, OSUMI Hisashi

    2011   "2A1 - I02(1)"-"2A1-I02(4)"   2011.5

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    Parallel wire suspended system realizes three-dimensional movement with very simple mechanism. A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, a motion control algorithm for designing a motion trajectory for the suspended manipulator to move to its target point as quickly as possible. The effectiveness of the obtained trajectory is verified by simulations.

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  • 2A2-B01 Time Optimal Control for Quadruped Robots : 3D simulation by ODE(Walking Robot)

    OSUMI Hisashi, NAKAMURA Ryosuke, YOKOHAMA Kazuya, TAKEUCHI Kyohei

    2011   "2A2 - B01(1)"-"2A2-B01(2)"   2011.5

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    Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Walking speed 391mm/s is derived until now. However, the speed about 450mm/s is achieved by trial and error in practice. The maximum speed derived by control theory is much lower than the practical one due to the constraints given to the target trajectory. To examine the effect of the constraints and the kinematic parameters of the robot on the obtained speed, a 3D simulator based on ODE is developed.

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  • 1A1-C02 Estimation of Reaction Forces from Rock Piles Applying to Wheel Loader(Robotics and Mechatronics in Construction and Demolition)

    FUJIWARA Takuya, OKADA Naoto, OSUMI Hisashi, SARATA Shigeru

    2011   "1A1 - C02(1)"-"1A1-C02(4)"   2011.5

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    A method of scooping rock piles automatically by wheel loader has been proposed until now. The reaction forces from rock piles are composed of five components, and the combination of the components acting on the bucket changes according to the bucket trajectories. In this research the cutting force among five components is formulated and it is verified by a fundamental experiment with a mechanical simulator. Then, the relationship between scooping motions and scooped amounts are examined.

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  • 1P1-I06 Control of Omni-directional Platform by Joystick(Wheeled Robot/Tracked Vehicle)

    NISHIMURA Masumi, Ntawuruhunga Emile R., OSUMI Hisashi

    2011   "1P1 - I06(1)"-"1P1-I06(2)"   2011.5

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    A tele-operation system of a mobile manipulator is developed. A 6 d.o,f. manipulator is mounted on an omni-directional platform driven by four DC motors. The position and orientation of the manipulator is controlled by a joystick with three d.o.f. The kinematic redundancy exists in x,y directions and the rotation about z axis are used to improve several control performance indexes.

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  • 1P1-O04 Analysis of Position Error of End-Effecter of An Omni-Directional Mobile Manipulator Due to Suspension Mechanism(Mobile Manipulation Robot)

    MATSUOKA Shukei, SHOJI Yukihiro, OSUMI Hisashi

    2011   "1P1 - O04(1)"-"1P1-O04(4)"   2011.5

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    A mobile manipulator consisting of an omni-directional mobile platform and a six d.o.f. manipulator has been developed. Since the platform has four suspension mechanisms for its wheels, the tip of the manipulator has positioning errors when the manipulator changes its posture or external forces act on it due to the suspension mechanisms of the mobile manipulator. Therefore, the displacement of the platform and the stiffness of the suspensions is analyzed and how to determine some kinematic parameters are discussed.

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  • 2A2-B09 Tension Control of a Wire Suspended Manipulator Using Counter-Weights

    YASUDA Tetsutaro, MATSUMOTO Toru, NAKAMURA Masami, OSUMI Hisashi

    2010   "2A2 - B09(1)"-"2A2-B09(4)"   2010

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by six wires. This base plate does not swing in theory. However, when the wire suspended manipulator move, the base plate is subjected to reaction force, and wire tensions are changed. It is hard to control when a wire is sagged. So we need to control wire tensions. One of the way, we propose using counter-weight. Four counter-weights driven by a ball screw mechanism are installed at the bottom of square base plate on each side. To control counter-weights effectually, wire tensions are increased.

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  • 2A2-A30 Swinging Motion Suppression Control of a Crane with Hoisting

    SAITO Keiichiro, YANO Shisato, OSUMI Hisashi

    2010   "2A2 - A30(1)"-"2A2-A30(4)"   2010

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    Control of a swinging motion is essential for a three-dimensional transportation of a crane when it is hoisting a suspended object. However, a previous control system designed by optimal regulator has limitations in suppression of the swinging motion as the length of the wire changes. Therefore, we design a control system suppressing swinging motion more effectively when the suspended object is hoisted by winding unit of wire. We propose a control system designed by pole placement method as the control system. The results obtained from MATLAB simulation shows the effectiveness of the control system designed by pole placement method.

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  • 2A2-B26 Cooperative Transportation Control of three Omni-Directional Mobile Manipulators Using Passive Joint

    OSUMI Hisashi, ITO Akitaka, AMAGAI Syunsuke, TSUJI Taichi

    2010   "2A2 - B26(1)"-"2A2-B26(3)"   2010

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    A mobile manipulator consisting of a 6 d.o.f manipulator and an omni-directional moving platform with four wheels is developed. The authors propose a strategy for handling object by cooperation of three omni-directional mobile manipulators using passive joints. Passive joints are free to move joint's movable directions are installed at the tip of each robot to avoid excessive inner force due to mutual positioning errors. Three passive joint mechanisms consist of four passive joints with electro-magnetic brake. The most important thing in this study is simplification of the control using passive joint. The authors propose equation of load on each robot as one of the simplification of complex control with a passive joint.

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  • 1A1-A21 Cooperative Manipulator of a Large Plate among Multiple Robots Using Slippage of Parallel Grippers

    ARAI Keiichi, YAMADA Shunsuke, OSUMI Hisashi

    2009   "1A1 - A21(1)"-"1A1-A21(4)"   2009.5

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    Cooperative manipulation by multiple industrial robots with parallel grippers is achieved using slippage between grippers and the object. Some experiments are done to verify that all states of slippages can be realized by controlling the manipulation forces and the grasping forces applied to the object.

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  • 2P1-G19 Position Control of A Manipulator Mounted on A Wire Suspended Plate by Counter-Weights Control

    OSUMI Hisashi, YASUDA Tetsutaro, NAKAMURA Masami

    2009   "2P1 - G19(1)"-"2P1-G19(4)"   2009.5

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by three wires. The motion control system of four counter weights was built in downward in the base plate. The control system to settle the displacement of the base generated by the motion of the manipulator and unexpected disturbance quickly was constructed, and the effectiveness was verified by the experiment.

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  • 2P1-H06 Tele-operation System for Wire Suspention Mechanisms : Development of Interface System

    Kubo Masahiro, Yano Shisato, Osumi Hisashi

    2009   "2P1 - H06(1)"-"2P1-H06(4)"   2009.5

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    Control of a suspended object's residual vibration is essential for a crane tele-operation system. When the suspended object is positioned at a target point, using just regulator causes inevitable overrun. Therefore, we're developing a interface system which has functions to prevent overrun and residual vibration.

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  • 1A2-D02 Estimation of Reaction Forces Applying to Wheel Loader from Rock Piles

    UEHARA Tomoya, HASHIMOTO Hiroto, ARAI Toshio, OSUMI Hisashi, SARATA Shigeru

    2009   "1A2 - D02(1)"-"1A2-D02(4)"   2009.5

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    A method of scooping rock piles automatically by wheel loader has been proposed until now. The scooping method consists of several motion units and for determining the bucket motion in each motion unit the information of reaction forces is needed. The reaction forces from rock piles are composed of five components, and the combination of the components acting on the bucket changes according to the motion units. In this research the reaction forces in each motion unit are modeled with five components and they are examined by using a miniature wheel loader and an actual wheel loader.

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  • My Hobby : Photography of Alpine Flowers

    OSUMI Hisashi

    26 ( 7 )   763 - 764   2008.10

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  • 1A1-E05 Time Optimal Control for Quadruped Walking Robots considering leg torque distribution

    HASEGAWA Yuji, OSUMI Hisashi, ISHIBASHI Takenori, UMEDA Kazunori, UEDA Ryuichi, ARAI Tamio

    2008   "1A1 - E05(1)"-"1A1-E05(4)"   2008.6

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    Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Swinging leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, supporting legs support their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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  • 2A1-H14 Position Control of a Wire Suspended Manipulator Using Counter-Weights

    OSUMI Hisashi, KIMURA Takashi, YASUDA Tetsutaro

    2008   "2A1 - H14(1)"-"2A1-H14(4)"   2008.6

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a plate suspended by three wires. Four counter-weights driven by a ball screw mechanism are also introduced under the plate along its side each. In a wire suspended manipulator, a base may incline due to the motion of the manipulator and unexpected disturbance. A method of eliminating the swinging motion of the base plate in three-dimensional space by feedback control of four counter-weights is proposed.

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  • 2P1-B21 Development of Crane Tele-operation System : Design of Desired Trajectory and Feedback Control System

    Kubo Masahiro, Kim Minsung, Osumi Hisashi

    "2P1 - B21(1)"-"2P1-B21(4)"   2008

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    A teleoperation system for crane control has been developed. By feedback control using the developed sensor, a mass suspended by a two dimensional crane on a horizontal plane is positiond withoutresdual vibration at a target point. Feed-forward control makes a mass to be positioned on target area where the operator wants to put on without overrun. The force of inertial can be reduce by using the acceleration, velocity and location trajectory that has continuous jerk.

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  • ロボット工学における力学

    大隅 久

    大学の物理教育   13 ( 2 )   87 - 90   2007.7

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  • 1P1-L05 Analysis of Reaction Forces against Rock Piles in Scooping Operation

    ARAI Toshio, TAKAHASHI Yuta, KANAI Osamu, OSUMI Hisashi, SARATA Shigeru, KOYACHI Noriho

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2007   _1P1 - L05_1-_1P1-L05_3   2007.5

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    A method of scooping rock piles automatically by wheel loaders is proposed based on reaction forces from rock piles. First, reaction forces are analyzed by some fundamental experiments using a miniature wheel loader system with the same bucket driving mechanism as an actual wheel loader. Using this result, the model of reaction forces against rock piles in scooping operation are constructed.

    DOI: 10.1299/jsmermd.2007._1P1-L05_1

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  • Self-Localization Using White Line Information for RoboCup Four Legged Robot League

    30 ( 42 )   113 - 114   2006.8

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  • 1P1-B05 Manipulation of Link Mechanism by Wire Suspension System

    Osumi Hisashi, KATO Michiaki, Aiyama Yasumichi

    2006   "1P1 - B05(1)"-"1P1-B05(4)"   2006

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    The manipulation of wire driven multiple link mechanisms by wire actuation is discussed. The relationship between the wire tensions and generated forces and torques on each link and joint is obtained. Then, the necessary number of wires and geometrical conditions of achieving arbitrary postures of link mechanisms are derived. Then, the number and conditions under gravity are also discussed. Using the obtained equations, how to install the wires into a two link mechanism is shown.

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  • 1P1-B01 Position Control of A Wire Suspended Manipulator Using Counter-Weights

    OSUMI Hisashi, SAKAMOTO Hironobu, KIMURA Takashi

    2006   "1P1 - B01(1)"-"1P1-B01(4)"   2006

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    A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a plate suspended by three wires, and a counter-weight driven by a ball screw mechanism is also introduced under the plate. In a wire suspended manipulator, a base may incline due to the motion of the manipulator. A method of eliminating the swinging motion of the base plate by feedback control of the counter-weight is proposed.

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  • 2A1-B08 Scooping of A Rock Pile by A Wheel Loader Using Disturbance Observer

    TAKAHASHI Yuta, YASUHARA Ryoutarou, KANAI Osamu, OSUMI Hisashi, SARATA Shigeru, KOYACHI Noriho

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2006   _2A1 - B08_1-_2A1-B08_4   2006

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    Amethod of scooping rock piles automatically by wheel loaders is proposed. The motion of the bucket of the wheel loader is planned according to the reaction forces from rock piles. To achieve the planned scooping trajectory of the bucket under existence of unexpected reaction forces, a disturbance observer is installed into the bucket controller. The effectiveness of the observer is verified by experiments with a miniature wheel loader "Yamazumi 3".

    DOI: 10.1299/jsmermd.2006._2A1-B08_1

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  • 1A1-B19 Cooperative manipulation of an object using slippage of parallel grippers

    ASAMI Daisuke, OSUMI Hisashi

    2006   "1A1 - B19(1)"-"1A1-B19(4)"   2006

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    A way of cooperative manipulation of an object by using slippage of parallel grippers is proposed. After the relationship between the slippage and the grasping forces is analyzed, it is shown that the slippage can be used to manipulate the object. Some algorithms for manipulating a large plate by two manipulators is proposed and some fundamental experiments are done to verify the effectiveness of the proposed method.

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  • 1A1-N-077 Development of a Parallel Wire Suspended Manipulator for Home Use(Mechanism and Control for Wire Actuation System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Araki Izumi, Osumi Hisashi

    2005   22 - 22   2005.6

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  • 2A1-S-023 Self-Localization Using White Line Information for RoboCup Four Legged Robot League(RoboCup 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Shirai Shinsuke, Ueda Ryuichi, Umeda Kazunori, Osumi Hisashi, Arai Tamio

    2005   167 - 167   2005.6

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  • 1A1-N-076 Vbration Control of a Wire Suspension System Using CCD Caremas(Mechanism and Control for Wire Actuation System,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Miura Akinari, Eiraku Shungo, Osumi Hisashi

    2005   22 - 22   2005.6

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  • 2P1-S-027 Efficiency Enhancement of Vector Quantization Method for State-Action Map Compression(RoboCup 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Ueda Ryuichi, Arai Tamio, Sakamoto Kohei, Jitsukawa Yoshiaki, Takeshita Kazutaka, Umeda Kazunori, Osumi Hisashi, Kikuchi Toshifumi, Komura Masaki

    2005   212 - 212   2005.6

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  • Measurement of the Zero Moment Point for walking robot using stereo cameras

    Komura M, Osumi H, Kamiya S, Arai T, Umeda K

    2004   63 - 63   2004.6

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  • 802 Control of An Industrial Robot on A Place Suspended by Multiple Wires

    ISHIKAWA Makoto, OSUMI Hisashi

    2001 ( 7 )   281 - 282   2001.3

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    A position control method for a wire suspended manipulator is proposed. An industrial robot is fixed on a plate suspended by three wires, and a counter weight driven by a ball screw mechanism is also introduced under the plate. By controlling the counter weight so as to keep the plate horizontal, the inverse kinematics become the same as the manipulator fixed on a ground.

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  • グラビアインタビュー セイコー時計資料館

    久保田浩司, 大隅 久

    精密工学会誌   66 ( 5 )   659 - 660   2000.5

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  • 視触覚による形状計測とその応用

    村上 清, 梅田 和昇, 木下 源一郎, 大隅 久

    精密工学会大会学術講演会講演論文集   2000 ( 1 )   494 - 494   2000.3

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  • 1P1-07-024 ホイールローダによるすくい取り制御

    松嶋 厳, 大隅 久, 皿田 滋, 桐生 大輔

    ロボティクス・メカトロニクス講演会講演概要集   2000   48 - 48   2000

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    本研究ではホイールローダによる作業の自律化を目的とし, ミニチュアホイールローダを用いたすくい取り作業の制御手法を提案する。本報では土砂等の不定形重量物のすくい取り作業におけるホイールローダのバケットに生じる反力を解析することにより, 土砂等の不定形重量物のモデルを提案する。そして, そのモデルを利用した少ない力で大容量の土砂をすくい取ることのできるバケットの動作・経路法を提案し, すくい取りシミュレーションを行うことにより検証を行う。

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  • 1P1-69-111 把持力を利用した平行 2 本指ハンドによる力計測

    高橋 健太郎, 原田 武史, 大隅 久, 梅田 和昇, 木下 源一郎

    ロボティクス・メカトロニクス講演会講演概要集   2000   58 - 58   2000

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    本研究では, 表面に触覚センサを付加した平行2本指ハンドを開発し, 物体把持状態の力や位置の計測, 組立におけるアルゴリズムを提案している。物体把持時の計測はハンドの把持力にも大きく依存しているため, 物体に働く外力を考慮し, それに適した把持力を導出する。本報では力の計測範囲が広くなるような把持力を利用し, 触覚センサに加えられる外力の計測実験の結果を示す。

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  • A proposal for a wire suspended manipulator: A kinematic analysis

    T.Arai, S.Matsumura, Y.Yoshimura, H.Osumi

    Robotica   9 ( 4 )   262 - 266   1999.1

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  • ローダのバケット荷重と軌道について

    皿田 滋, 大隅 久

    資源・素材   1998 ( 2 )   5 - 8   1998.11

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  • 人間共存型ロボットシステム実現に向けて

    大隅 久

    日本ロボット学会「人間共存型ロボット研究専門委員会」報告書   10 - 11   1998.9

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第3報) -触覚センサによる接触位置計測実験-

    石井 伸彦, 村上 哲也, 大隅 久, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1998 ( 1 )   122 - 122   1998.3

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  • 視触覚融合による多面体・円筒の3次元計測

    古川 淳一, 梅田 和昇, 大隅 久, 木下 源一郎, 坂根 茂幸

    精密工学会大会学術講演会講演論文集   1998 ( 1 )   492 - 492   1998.3

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-視触覚情報の融合と触像アスペクト法-

    木下源一郎, 大隅 久, 梅田和昇

    平成9年度文部省科学研究費重点領域研究研究成果報告書   168 - 171   1998.2

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  • ワイヤ駆動型パラレルメカニズム

    大隅 久

    精密工学会誌   63 ( 12 )   1659 - 1662   1997.12

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  • ワイヤ駆動型パラレルメカニズム

    大隅 久

    精密工学会第236回講習会「パラレルメカニズムの最新技術に関する講習会」テキスト   17 - 22   1997.6

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  • Control Strategy for Mobile Manipulators

    H.Osumi, E.Konishi

    Journal of Robotics and Mechatronics   17 ( 1 )   3 - 10   1997.4

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  • Development of a Parallel Two-Fingered Hand with High Compliant Tactile Sensors and its Application

    YAMAGUCHI D., KINOSHITA G., MIYASHITA T., OOSUMI H., UMEDA K.

    1997 ( 8 )   25 - 31   1997.3

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  • 局所的な特徴に着目した視覚情報と触覚情報の融合

    梅田 和昇, 古川 淳一, 大隅 久, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   1007 - 1008   1997.3

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第2報) -把持物体と環境との接触点検出のための基礎実験-

    大隅 久, 宮下 知子, 石井 伸彦, 東郷 賢穂, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   991 - 992   1997.3

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  • 複数の位置制御型ロボットによる物体の操り

    大隅 久

    平成7、8年度科学研究費補助金(基盤研究(C)(2))研究成果報告書(課題番号07653012)   1997.3

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-組み付け作業における視触覚情報の融合-

    木下源一郎, 大隅 久, 梅田和昇

    平成8年度文部省科学研究費重点領域研究研究成果報告書   169 - 172   1997.2

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  • 複数の移動ロボットによる協調搬送システムの凹凸路面走行時におけるフィードバック制御手法

    大隅久

    ロボティクス メカトロニクス講演会'97講演論文集   1111 - 1112   1997

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  • 3本のワイヤを利用したワイヤ懸垂機構

    大隅 久

    機械設計   40 ( 10 )   59   1996.7

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  • ワイヤ駆動機構

    大隅 久

    機械設計   40 ( 10 )   34   1996.7

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  • Sensing of Contact Point a Grasped Object and Environment by Tactual Behavior of a Parallel Two-Finger Hand

    OSUMI Hisashi, UMEDA Kazunori, KINOSHITA Genichiro

    1996 ( 11 )   89 - 95   1996.3

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第1報) -把持物体と環境との接触点検出アルゴリズムの提案-

    大隅 久, 宮下 知子, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   77 - 78   1996.3

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-視触覚情報の融合と触像アスペクト法-「ロボットハンドによる組立動作の自動姿勢(第1報)-触覚情報に基づく把持物体と環境の接触点検出アルゴリズムの提案-」

    木下源一郎, 大隅 久, 梅田和昇

    平成7年度文部省科学研究費重点領域研究研究成果報告書   102 - 105   1996.2

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  • ワイヤ懸垂機構の設計と制御

    大隅 久

    日本機械学会第72期通常総会講演会資料集(V)   206 - 207   1995.3

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  • Three Wire Suspension Robot

    T.Arai, H.Osumi

    Industrial Robot   19 ( 4 )   17 - 22   1992.4

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  • クレーンとロボットの協調による重量物ハンドリング

    新井民夫, 大隅 久

    東京大学工学紀要A   ( 29 )   22 - 23   1991.11

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  • 重量物の自動組立てに関する研究

    渡辺匡道, 長井一郎, 新井民夫, 大隅 久, 佐藤賢一

    鹿島技術研究所年報   39 ( Oct-91 )   281 - 284   1991.10

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  • 先端の弾性を考慮した複数のマニピュレータの協調制御(第2報)

    大隅久

    日本ロボット学会第9回学術講演会予稿集   501 - 502   1991

  • 小型ロボットによる懸垂重量物の組立て

    新井民夫, 大隅 久

    東京大学工学紀要A   ( 24 )   18 - 19   1986.11

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▼display all

Presentations

  • ホイールローダによる大塊掬い取り時の反力解析とメカニズムの解明

    岩上大也, 東野凪咲, 大隅久

    第21回建設ロボットシンポジウム  2023.9 

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  • 5本のワイヤを用いた新型ワイヤ懸垂機構の開発

    冨永竣斗, 幾井範樹, 濱崎峻資, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会  2023.6 

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  • 柔軟物の最適把持システムの構築

    上原久輝, 反田龍一, 小山涼之介, 濱崎峻資, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会  2023.6 

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  • 4 本のワイヤで懸垂された移動テーブルにおける運動学特性の解析

    大隅久, 粕谷樹生, 鈴木瑠

    日本機械学会ロボティクス・メカトロニクス講演会  2023.6 

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  • 2 人の作業者による長尺物の持ち上げ作業における動作リテラシーの解析

    宮本杏菜, 濱崎峻資, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会  2023.6 

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  • 管内検査のための球状カメラシステムの提案

    濱崎峻資, 木田伊織, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会  2023.6 

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  • ワイヤを用いた3台のマニピュレータによる協調システムによるワイヤ張力制御

    原 勇飛, 取屋 航輔, 濱崎 峻資, 大隅 久

    第28回ロボティクスシンポジア  2023.3 

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  • ロボットの機構と制御の応用 Invited

    大隅 久

    精密工学会主催 第425回講習会  2022.10 

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  • ワイヤ懸垂系のロボットへの応用 Invited

    大隅 久

    日本機械学会 2022年度年次大会  2022.9 

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  • 二人の作業者による長尺物の持ち上げ動作の解析

    宮本 杏菜, 今給黎 咲良, 濱崎 峻資, 大隅 久

    第40回日本ロボット学会学術講演会  2022.9 

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  • 人とロボットの協働によるねじ締め作業に関する研究

    稲村 和浩, 岩﨑 健太, 國邑 亮介, 濱崎 峻資, 大隅 久

    第40回日本ロボット学会学術講演会  2022.9 

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    Event date: 2022.9    

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  • 二台のカメラを用いたワイヤ振れ角計測

    谷凌太, 三塚真慧, 大隅久, 中森啓太, 山本泰広, 呉春男

    第20回建設ロボットシンポジウム  2022.8 

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  • バックホーによる土砂掘削時の前方堆積土砂形状生成モデルの考察

    倉持涼佑, 大隅久, 呉春男, 佐野祐介

    第20回建設ロボットシンポジウム  2022.8 

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  • 4 本のワイヤで懸垂された移動テーブルにおける逆運動学及び回転方向の解析

    粕谷樹生, 鈴木瑠, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2022  2022.6 

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    Event date: 2022.6    

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  • ジョイスティックによるワイヤを利用した 3 台の産業用マニピュレータの協調制御

    取屋航輔, 蔣偉波, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2022  2022.6 

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  • シルバーカーの段差衝突時における腕の力及び姿勢と衝撃力の関係

    大隅久, 河野里咲, 米倉悠人, 須田瑞生

    日本機械学会ロボティクス・メカトロニクス講演会2022  2022.6 

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  • Vibration Control of a Moving Table Suspended by Four Wires Using four Propellers

    Ryu Suzuki, Hisashi Osumi

    The 39th Annual Conference on Robotics Society of Japan  2021.9 

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  • 福島第一原子力発電所の廃炉に向けたロボット技術の現状と課題

    大隅 久

    日本ロボット学会学術講演会オープンフォーラム  ( オンライン )   2021.9  日本ロボット学会

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  • 合業、人間行動駆動、動作リテラシー

    大隅 久

    日本ロボット学会学術講演会オープンフォーラム  ( オンライン )   2021.9  日本ロボット学会

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  • 今注目される、ロボットシステムインテグレータという仕事とは 実際に講義を受け入れてみて

    大隅 久

    日本ロボット学会学術講演会オープンフォーラム  ( オンライン )   2021.9  日本ロボット学会

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  • 福島第一原子力発電所の廃炉に向けたロボット技術の現状と課題 Invited

    大隅 久

    東京電力福島第一原子力発電所の廃炉 第5回 廃炉10年目の課題と展望-より安全な廃炉に向けて-  ( オンライン )   2021.6  日本原子力学会

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  • Kinematics and inverse kinematics of a moving table suspended by four wires

    Mikio Kasuya, Ryu Suzuki, Hisashi Osumi

    Robomech2021  ( オンライン )   2021.6  日本機械学会

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  • 複数のワイヤ懸垂型ロボットの協調による薄板からの棒の引き抜きにおける力学モデル

    取屋航輔, 浅野拓馬, 押川康則, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2021  ( オンライン )   2021.6  日本機械学会

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    複数のワイヤで懸垂された棒を薄板から引き抜く際に板と棒に食いつき現象が発生する条件を力学モデルより検討した。

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  • 荷物運搬台車のための段差乗り越え機構の開発

    Hisashi Osumi, Manabu Ono, Ryuichi Sorita, Hiroki Mashimo

    日本機械学会ロボティクス・メカトロニクス講演会2020  ( オンライン )   2020.5  日本機械学会

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  • ワイヤを用いた3台の産業用マニピュレータの協調システムにおける最適姿勢制御

    Marina Ogisaka, Takuma Asano, Hisashi Osumi

    日本機械学会ロボティクス・メカトロニクス講演会2020  ( オンライン )   2020.5  日本機械学会

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  • スマートグラスを用いた機会式時計の組立支援ツールの試作開発

    Junya Yamazaki, Hisashi Osumi

    日本機械学会ロボティクス・メカトロニクス講演会2020  ( オンライン )   2020.5  日本機械学会

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  • Study on Mechanism of Generating Sediment Shape in Front of Bucket during Digging Sand by Backhoe

    Hisashi Osumi, Hiroyuki Narasaki, Takuo Mine, Yusuke Sano, Chunnan Wu

    19th of Symposium on Construction Robots  ( Kitakyushu International Conference Center )   2019.10  Council for Construction Robot Research(CCRR)

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    When scooping excavated sediment with a backhoe, the amount of sediment flowing into the bucket largely depends on the shape of sediment deposited in front of the bucket at the start of scooping. In this study, we observe the sedimentary shape formed in front of the bucket when excavating horizontal sand at a certain depth, and consider the mechanism of its shape formation based on the theory of earth pressure.

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  • Cooperative Transportation System with Three Omni-Directional Mobile Manipulators with Wire Mechanism International conference

    Morishita Shoma, Ogisaka Marina, Oshikawa Yoshinori, Sekimura Yuta, Osumi Hisashi

    Workshop on Robot Control (WROCO 2019)  ( Daejeon, Korea )   2019.7  International Federation of Automatic Control

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    A new method of cooperative transportation using three position-controlled mobile manipulators is proposed and its effectiveness is verified by a prototype system. Technical problem of cooperative transportation by position-controlled manipulators is the generation of excessive inner forces among manipulators caused by mutual positioning errors. To solve this problem, we use a wire suspension mechanism. In this paper, we propose a feedback control algorithm to compensate the positioning errors of the object just around the target position under the assumption that the positioning errors caused by feed-forward control is small. Since the proposed system has kinematic redundancy, it is used to minimize the square sum of six wire tensions. The effectiveness of the proposed method and the developed system are verified by a fundamental experiment and simulations.

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  • Cooperative positioning of an object with three manipulators using wires

    Yoshinori Oshikawa, Marina Ogisaka, Hisashi Osumi

    2019 JSME Conference on Robotics and Mechatronics ROBOMECH2019  ( International Conferene Center Hiroshima )   2019.6  The Japan Society of Mechanical Engineers

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    The authors have developed cooperative system of three manipulators that are position controlled. The problem with this system is that excessive internal forces occur due to position error. Therefore, we have used six wires to prevent excessive internal forces. Also, the system using six wires can hold the object rigidly against external forces of a certain size. However, when considering the use of this system for assembly and disassembly work, compliance is required against external forces. Thus, this paper discusses cooperative system using three wires and provides calculation method for positioning of the object.

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  • Swing motion Control of Wire Suspension System using propeller

    Wataru Hirata, Hisashi Osumi

    2019 JSME Conference on Robotics and Mechatronics ROBOMECH2019  ( International Conferene Center Hiroshima )   2019.6  The Japan Society of Mechanical Engineers

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    In recent years, the aging of bridges which have been intensively developed since the period of high economic growth has been getting worse, and it is required to conduct an effective and efficient inspection. However, it is the current situation that inspection work cannot be performed due to lack of budget and shortage of personnel. Therefore, in this research, we propose a suspension system using four cables as a robot assuming visual inspection work of large infrastructure. The suspended object of this system causes swing motion when disturbance is applied. Therefore this research shows a method of swing motion control using propeller. In addition, we perform swing motion control experiments using experimental machines and examine the effectiveness of propeller.

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  • Counterweight for Orientation Control of wire suspension system

    Yuriko Takamizawa, Hisashi Osumi

    2019 JSME Conference on Robotics and Mechatronics ROBOMECH2019  ( International Conferene Center Hiroshima )   2019.6  The Japan Society of Mechanical Engineers

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    We propose the wire suspension system for automatic inspection which has a large weight capacity and wide range of movement as a positioning mechanism for heavy objects. However, the vibrations is caused by disturbance and if the object suspended by wires moves to end of the workspace, it inclines from the initial posture. This paper shows our development of orientation control device using counterweight system for solving the above problems. We derived the motion equation of this system and executed feedback control for convergence of a target. We found that counterweight is effective for orientation control by means of experiments.

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  • Cooperative positioning system of three manipulators with wire suspension mechanism International conference

    M.Ogisaka, S.Morishita, Y.Sekimura, H.Osumi

    International Workshop on Fukushima Decommissioning Research(FDR2019)  ( J-village (Fukushima) )   2019.5  The Japan Society of Mechanical Engineers/ Atomic Energy Society of Japan

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    The handling and positioning of large and heavy objects in 3D space is one of the most important techniques for decommissioning of Fukushima Daiichi Nuclear Power Station. A new method of cooperative positioning system consisting of three manipulators is proposed by using wire suspension mechanism, and the validity of the proposed system is verified by fundamental experiments. The proposed method is applicable to the cooperation among multiple cranes.

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  • Optimization Model in Human Motion to Return to Upright Position

    Tatsuya Hayashi, Hisashi Osumi

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    The purpose of this research is to consider an optimization model that can reproduce the trajectory of human motion to return to upright position. In this motion, there is a tendency that the brake is applied so as not to fall behind toward the end of the operation and the speed change becomes small. This tendency is not applicable to the bell type trajectory which is commonly seen in human motion. In order to reproduce this tendency, the validity of the model was evaluated by carrying out a simulation based on the torque change minimum model and comparing it with the actual motion.

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  • Optimization of excavation position considering energy in backhoe

    Hisashi Osumi, Yuki Kawashima, Tomoaki Tsuda, Yusuke Sano, Chunnan Wu

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    A method of determining an optimal position of a backhoe is proposed for a pre-determined bucket trajectory. When a velocity-controlled backhoe digs soil along a pre-determined bucket trajectory, the consumption energy for digging varies according to the position of the backhoe because of the velocity control mechanism. In this research, energies required for digging along a specified trajectory are calculated with several backhoe positions and the optimal position is determined. In addition, the differences of consumption energy among backhoe positions is analyzed considering physical phenomenon and controller function.

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  • Horizontal two-way swing motion Control of Wire Suspension System using Gyro effect

    Takashi Inoue, Hisashi Osumi

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    In recent years, the aging of bridges which have been intensively developed since the period of high economic growth has been getting worse, and it is required to conduct an effective and efficient inspection. However, it is the current situation that inspection work cannot be performed due to lack of budget and shortage of personnel. Therefore, in this research, we propose a suspension system using four cables as a robot assuming visual inspection work of large infrastructure. The suspended object of this system causes swing motion when disturbance is applied. Therefore this research shows a method of swing motion control using the gyro effect. In addition, we perform swing motion control experiments using experimental machines and examine the effectiveness of the gyro effect.

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  • Performance evaluation of luggage carrier mechanism for getting over a step

    Hisashi Osumi, Manabu Ono, Hiroki Mashimo, Fumiya Tsunoda

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    Platform carts have been used in various industries to carry heavy loads. However, heavily-loaded platform carts can’t get over a step. Therefore, we invented a new loaded platform cart mechanism that enables to get over a step with slide mechanism. Further, we verified a relationship of impulsive force and angle of mechanism through a simulation.

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  • Cooperative Assembling by Three Manipulators with Wire Mechanism

    Shoma Morishita, Hisashi Osumi

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    A cooperative transportation with some position controlled mobile manipulators causes some problems. It is an internal force occurring in a conveyed object due to a position error. So we suggest a system using a wire to solve the problem. A carrier is fixed by using six wires and can build the system which internal force does not produce. In addition, we devised the revision method of a position error and the posture error from the transportation target position by the position error of the mobile manipulators that occurred when transported a carrier. And we inspected the method of this revision that devised.

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  • Internal Force Control in Cooperative Work by Manipulator

    Kazuki Hatano, Marina Ogisaka, Hisashi Osumi

    2018 JSME Conference on Robotics and Mechatronics ROBOMECH2018  ( Kitakyushu International Conferene Center )   2018.6  The Japan Society of Mechanical Engineers

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    Cooperative manipulation with multiple position-controlled manipulators is a very attractive technique to enhance the applicable fields of industrial manipulators. However, excessive internal forces occur among manipulators caused by mutual positioning errors. So we proposed a way of installing passive joints between each manipulator tip and the handled object to avoid the excessive inner forces in our previous works. The system works very well, but the application of the system is limited to the cooperative transportation. To enhance the fields of our cooperative system with passive joints, it is proposed to install coil springs into each passive joints to generate inner forces among manipulator tips. By installing springs into passive joints, it can be applied to tasks requiring forces between manipulator tips and the handled object. In this paper, the relationship between displacements of springs and the generated inner forces is derived and the statics of the cooperative system is analyzed by fundamental experiments with a prototype mechanism.

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  • ワイヤを利用した3台の移動マニピュレータによる協調搬送制御

    関村 悠太, 森下 翔午, 大隅 久, 相山 康道

    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SI2017  2017.12 

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  • 大塊掬い取りにおける反力メカニズムの解明

    土田航平, 大隅久, 皿田滋

    第17回建設ロボットシンポジウム  2017.9 

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  • バックホーによる掘削時のバケット内土砂挙動解析

    大隅久, 川島裕希, 津田智滉, 岩瀬裕史, 呉春男, 佐野裕介

    第17回建設ロボットシンポジウム  2017.9 

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  • ホイールローダによる土砂掬い取りにおける反力解析 土砂粒径が貫入抵抗に及ぼす影響の考察

    奥村幸平, 大隅久, 皿田滋

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • 天井走行クレーンの巻き上げによる障害物回避

    中村隆太郎, 佐藤洋稀, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • ホイールローダによる大塊掬い取り時の大塊の挙動解析

    土田航平, 大隅久, 皿田滋

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • ジャイロ効果を利用したワイヤ懸垂システムの振動制御

    井上崇志, 原田健太, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • 荷物運搬台車のための段差乗り越え機構の開発

    真下裕己, 角田郁弥, 小野学, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • ワイヤを用いた三台の全方向移動マニピュレータによる協調搬送

    関村悠太, 森下翔午, 大隅久, 相山康道

    日本機械学会ロボティクス・メカトロニクス講演会2017  2017.5 

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  • 4本のワイヤを用いたワイヤ懸垂システムの開発と振動解析

    原田健太, 井上崇, 大隅久

    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SI2016  2016.12 

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  • 荷重を考慮したそりを用いた段差乗り越え機構の解析

    角田郁弥, 大隅久, 小野学

    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SI2016  2016.12 

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  • ホイールローダによる斜面土砂掬い取り時の反力推定

    奥村幸平, 岩瀬裕史, 大隅久, 皿田滋

    第16回建設ロボットシンポジウム  2016.9 

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  • ホイールローダによる大塊掬い取り時の反力解析

    土田航平, 大隅久, 皿田滋

    第16回建設ロボットシンポジウム  2016.9 

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  • ワイヤを利用した3台の全方向移動マニピュレータによる協調搬送システム

    関村悠太, 大隅久, 相山康道

    第34回日本ロボット学会学術講演会  2016.9 

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  • そりを用いた段差乗り越え機構の力学的解析

    角田郁弥, 大隅久, 小野学

    LIFE 2016  2016.9 

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  • 上体立ち上げ動作のの実測およびトルク変化最小運動規範モデルの導出

    込山菜摘, 安在絵美, 大隅久, 太田裕治

    日本機械学会ロボティクス・メカトロニクス部門講演会ROBOMECH2016  2016.6 

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  • 受動関節機構を有する複数台の全方向移動マニピュレータによる単一物体の協調搬送

    森田一輝, 福井健人, 大隅久, 田村雄介

    日本機械学会ロボティクス・メカトロニクス部門講演会ROBOMECH2016  2016.6 

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  • 自動車競技運転において注視点が運転に与える影響の解析

    多田康治, 田村雄介, 大隅久

    日本機械学会ロボティクス・メカトロニクス部門講演会ROBOMECH2016  2016.6 

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  • シルバーカーのためのそりを用いた段差乗り越え機構の開発

    角田郁弥, 小野学

    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SI2015  2015.12 

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  • ホイールローダによる混合土砂掬い取り時の反力解析

    奥村幸平, 岩瀬裕史, 大隅久, 皿田滋, 林義一

    第15回建設ロボットシンポジウム  2015.9 

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  • バックホーにおける土砂掘削反力の解析

    岩瀬裕史, 呉春男, 牧野史紀

    第15回建設ロボットシンポジウム  2015.9 

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  • ホイールローダによる堆積土砂形状の制御

    津田智滉, 岩瀬裕史, 皿田滋

    第15回建設ロボットシンポジウム  2015.9 

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  • 4本のワイヤを用いた空間移動マニピュレータの運動学・静力学解析

    原田健太

    2015年度 日本機械学会年次大会  2015.9 

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  • ロボットの姿勢が人間の注意の領域に与える影響を考慮したロボッ トの姿勢と注意の誘導のモデル化

    明石貴文, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会ROBOMECH2015  2015.5 

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  • 自転車ペダリング動作時の姿勢解析のための6軸力覚センサを用いた荷重計測システムの開発

    元谷秀明, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • シルバーカーのための段差乗り越え機構の開発

    角田郁弥, 棚田瑞樹, 小野学, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • ワイヤの弛みを考慮したワイヤ懸垂システムの運動解析

    原田健太

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • 移動障害物を考慮した天井走行クレーンの経路計画

    根岸昌輝, 中村隆太郎, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • 四脚歩行ロボットの最速歩行における状態遷移軌道の設計

    岩田雅史, 鈴木悠平, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • 受動関節機構を用いた3台の全方向移動マニピュレータの協調搬送制御

    太田諒, 森田一輝, 田村雄介

    日本機械学会ロボティクス・メカトロニクス講演会|rn|ROBOMECH2015  2015.5 

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  • ホイールローダによる土砂掬い取りおけ反力解析

    林 義一, 大隅 久, 皿田 滋, 岩瀬 裕史

    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SI2014  2014.12 

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  • 協調ハンドリング時における物体の把持点探索手法

    森田 一輝, 太田 諒, 大隅 久, 田村 雄介

    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SI2014  2014.12 

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  • シルバーカーの衝撃軽減のための機構の解析

    棚田瑞樹, 小柳徹, 田村雄介, 小野まなぶ

    第32回日本ロボット学会学術講演会  2014.9 

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  • ロボットの姿勢が人間の注意に与える影響の解析

    明石貴文, 田村雄介, 矢野史朗

    第32回日本ロボット学会学術講演会  2014.9 

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  • ホイールローダによる大塊ハンドリングにおける力学解析

    不二原拓也, 須田裕之, 林義一, 岩瀬裕史, 皿田滋

    2014年度 日本機械学会年次大 会  2014.9 

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  • レーザーポインタ型インタフェースによるクレーンの遠隔操作システムの開発

    根岸昌輝, 増田光, 田村雄介, 斎藤慶一郎

    第14 回建設ロボットシンポジウム  2014.8 

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  • 月の地中探査用蠕動運動型ロボットによる掘削手法および土質調査手法の検討

    水品 明日香, 大森 隼人, 北本 博之, 中村 太郎, 久保田 孝

    第14 回建設ロボットシンポジウム  2014.8 

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  • 自転車走行時の自転車各部にかかる荷重計測システムの開発

    元谷秀明, 田村雄介

    日本機械学会ロボティクス・メカト ロニクス部門講演会ROBOMECH2014  2014.5 

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  • ホイールローダによる積み込み作業の自律化に向けたバケット内土砂の挙動解析

    岩瀬裕史, 森大輔, 皿田滋

    日本機械学会ロボティクス・メカト ロニクス部門講演会ROBOMECH2014  2014.5 

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  • 搬送時の把持物体姿勢を考慮した把持点探索アルゴリズムの提案

    森田一輝, 太田諒, 田村雄介

    日本機械学会ロボティクス・メカトロニクス部門講演会ROBOMECH2014  2014.5 

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  • 蠕動運動を用いた惑星探査用埋没型掘削ロボットの開発―推進ユニットによる土質環境計測の検討―

    北本博之, 大森隼人, 水品明日香, 中村太郎, 久保田孝

    第19回ロボティクスシンポジア  2014.3 

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  • シルバーカーの衝撃軽減のための機構の開発

    棚田端樹, 小柳徹, 大隅久, 田村雄介, 小野まなぶ

    第31回日本ロボット学会学術講演会  2013.9 

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  • 複数のマニピュレータを用いた協調把持における負荷均等化把持点探索

    太田諒, 大隅久, 田村雄介

    第31回日本ロボット学会学術講演会  2013.9 

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  • 注意誘導のための視覚的注意のモデル化と手品鑑賞時の注視点計測に基づくモデルの評価

    田村雄介, 矢野史朗, 大隅久

    第31回日本ロボット学会学術講演会  2013.9 

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  • クランク機構を応用した3リンク受動歩行の提案

    上別縄輝, 田村雄介, 大隅久

    第31回日本ロボット学会学術講演会  2013.9 

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  • 人間とロボットのインタラクション 円滑化に向けた注意誘導の解析

    明石 貴文, 田村 雄介, 矢野 史朗, 大隅 久

    日本機械学会ロボティクス・メカトロニクス講演会  2013.5 

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  • シルバーカーにおける段差乗り越え 機構の開発

    小栁 徹, 棚田 瑞樹, 小野 学, 大隅 久, 田村 雄介

    日本機械学会ロボティクス・メカト ロニクス講演会2013  2013.5 

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  • 天井走行型クレーンの軌道の評価

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    日本機械学会ロボティクス・メカトロニクス講演会2013  2013.5 

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  • ワイヤ懸垂型ハンドの移動制御

    脇 政博, 田村 雄介, 大隅 久

    日本機械学会ロボティクス・メカト ロニクス講演会2013  2013.5 

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  • 台車部のサスペンション特性を利用 した複数の全方向移動マニピュレータによる協調搬送

    西村真澄, 太田諒, 大隅久, 田村雄介

    日本機械学会ロボティクス・メカト ロニクス講演会2013  2013.5 

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  • 四脚歩行ロボットの最短時間制御

    岩田 雅史, 中村 亮介, 大隅 久, 田村 雄介

    日本機械学会ロボティクス・メカトロニクス講演会2013  2013.5 

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  • レーザーポインタ型インタフェースによるクレーンの遠隔操縦システムの開発

    齋藤慶一郎, 大隅久, 増田光, 田村雄介

    第18回ロボティクスシンポジア  2013.3 

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  • 注意誘導動作のモデル化のための手品鑑賞時の視線計測

    長野隼人, 尾谷将平, 森大輔, 大隅久

    第30回日本ロボット学会学術講演会  2012.9 

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  • 張力楕円を考慮したワイヤ懸垂型マニピュレータの張力制御

    柴山晃貴, 松本徹, 田村雄介, 大隅久

    第30回 日本ロボット学会学術講演会  2012.9 

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  • ワイヤ巻き上げによる障害物回避を考慮した天井クレーンの遠隔操縦システムの開発

    増田光, 田村雄介, 大隅久

    第30回 日本ロボット学会学術講演会  2012.9 

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  • ホイールローダによる積み込み作業における堆積土砂形状のシミュレーション

    長野隼人, 森大輔, 大隅久, 皿田滋

    第13回建設ロボットシンポジウム  2012.9 

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  • ホイールローダによるエネルギーを考慮した土砂の最適掬い取り軌道の提案

    岡田直人, 不二原拓也, 大越健太郎, 大隅久, 皿田滋

    第13回建設ロボットシンポジウム  2012.9 

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  • ホイールローダによる大塊のハンドリング

    不二原拓也, 大隅久, 皿田滋

    日本機械学会ロボティクス・メカトロニクス講演会  2012.5 

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  • ワイヤ懸垂型移動ハンドの搬送実験

    脇政博, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012.5 

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  • 状態遷移を考慮した四脚歩行ロボットの最短時間制御

    中村亮介, 竹内恭平, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012.5 

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  • ホイールローダによる土砂の積み込み手法の提案

    長野隼人, 尾谷将平, 森大輔, 大隅久, 皿田滋

    第17回ロボティクスシンポジア  2012.3 

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  • ホイールローダによる土砂の最適掬い取り軌道の提案

    岡田直人, 大隅久, 皿田滋

    第29回日本ロボット学会学術講演会  2011.9 

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  • ホイールローダの掬い取り作業時に発生する土砂反力推定

    不二原拓也, 岡田直人, 大隅久, 皿田滋

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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  • ジョイスティックを用いた全方向移動台車の制御

    西村真澄, Emile R. Ntawuruhunga, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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  • 全方向移動マニピュレータのサスペンションを考慮した手先位置誤差解析

    松岡秀佳, 庄司幸弘, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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  • ワイヤ懸垂型三次元移動ハンドの開発

    脇政博, 松本徹, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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  • 四脚歩行ロボットの最短時間制御 -ODEによる3Dシミュレーション-

    大隅久, 中村亮介, 横濱和也, 竹内恭平

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011.5 

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  • 6本のワイヤで懸垂されたマニピュレータのカウンタウェイトによる反力制御

    松本徹, 中村政美, 安田鉄太郎, 大隅久

    第16回ロボティクスシンポジア  2011.3 

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  • ホイールローダの積み込み作業における土砂の堆積シミュレーション

    長野 隼人, 大隅 久, 皿田 滋

    第28回 日本ロボット学会学術講演会 講演論文集  2010.9 

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  • Estimation of Reactin Force from Rock Piles in Scooping Operation by a Wheel Loader

    上原智也, 大隅 久, 皿田 滋

    第12回建設ロボットシンポジウム  2010.9 

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  • カウンタウェイトを用いたワイヤ懸垂型マニピュレータの張力制御

    松本徹, 安田鉄太郎, 中村政美, 大隅久

    日本機械学会ロボティクス・メカトロニクス部門講演会  2010.6 

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  • トルクの冗長性を利用した四脚歩行ロボットの最短時間制御

    竹内恭平, 横濱和也, 大隅久

    日本機械学会ロボティクス・メカトロニクス部門講演会  2010.6 

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  • クレーンのワイヤ巻き上げ時における振動抑制制御

    齊藤慶一郎, 矢野詩知, 大隅久

    日本機械学会ロボティクス・メカトロニクス部門講演会  2010.6 

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  • 受動関節を用いた3台の全方向移動マニピュレータによる協調搬送制御

    伊藤章貴, 天貝俊介, 辻太一, 大隅久

    日本機械学会ロボティクス・メカトロニクス部門講演会  2010.6 

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  • トルクの冗長性を利用した四脚ロボットの最短時間制御

    横濱和也, 竹内恭平, 石橋武則

    第15回ロボティクスシンポジア  2010.3 

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  • 分散インバータ方式によるモータ駆動システムのインバータ故障時の対策

    永石雅和

    平成22年電気学会全国大会  2010.3 

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  • Failure Characteristics of Motor System Using Distributed Inverters for PMSM

    Masakazu Nagaishi

    13th European Conference on Power Electronics and Applications  2009.9 

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  • ホイールローダの土砂掬い取り時における反力推定

    上原智也, 橋本洋一, 新井敏生, 皿田滋

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • ワイヤ懸垂ベースに搭載されたマニピュレータのカウンタウェイトによる水平位置決め

    中村政美, 安田鉄太郎

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • 分散インバータ方式によるモータ駆動システムの出力特性

    永石雅和

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • ワイヤ懸垂系の遠隔操縦システムの開発-操縦インターフェースの開発-

    矢野詩知, 久保雅裕

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • 平行グリッパによる滑りを用いた平板の協調操り

    山田俊介, 新井渓一

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009.5 

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  • Reliable control during current loop failure using ETF for position servo system including disturbance observer

    Kaoru Ishikawa, Taro Nakamura

    IEEE Int. Conf. on Robotics and Automation  2009.5 

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  • Reliable Control Using Equivalent Transfer Function for Position Servo System in Current Loop Failure

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    The 34th Annual Conference of the IEEE Industrial Electronics Society (IECON2008)  2008.11 

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  • 分散インバータを用いた永久磁石同期モータ駆動システムの基本特性

    永石雅和, 大隅久

    第26回日本ロボット学会学術講演会  2008.9 

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    分散インバータを利用したACモータの制御系を開発し,試作機によりその有効性を検証した。

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  • トルク配分を考慮した四脚歩行ロボットの最短時間制御

    長谷川悠史, 神谷昌吾, 加藤博章, 大隅久, 梅田和昇, 上田隆一, 新井民夫

    日本機械学会ロボティクス・メカトロニクス講演会2008講演論文集  2008.6 

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  • カウンタウェイトを利用したワイヤ懸垂マニピュレータの位置決め制御

    安田鉄太郎, 木村喬, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2008講演論文集  2008.6 

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  • 天井走行型クレーンの遠隔操縦システムの開発

    久保雅裕, KIM MIN SUNG, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会2008講演論文集  2008.6 

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    位置決め点で行き過ぎを発生することなく懸垂物を位置決めすることのできる,ワイヤ懸垂機構のテレオペレーションシステムを開発した。

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  • ホイールローダによる土砂の掬い取り制御水平挿入時における土砂反力の解析

    橋本 洋人, 高橋 勇太, 新井 敏生, 大隅 久, 皿田 茂, 小谷内 範穂

    第25回日本ロボット学会学術講演会予稿集  2007.9 

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  • ワイヤ懸垂機構の遠隔操作システムの開発(第1報)システム構成と制御システムの構築

    キム ミンソン, 久保 雅裕, 永樂 俊吾, 大隅 久

    第25回日本ロボット学会学術講演会予稿集  2007.9 

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  • 平行グリッパによる滑りを利用した物体の協調操り

    新井, 浅見,大隅

    日本機械学会ロボティクス・メカトロニクス部門講演会講演論文集  2007.5 

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  • ホイールローダの掬い取り動作における土砂反力の解析

    新井,高橋, 金井, 大隅, 皿田, 小谷内

    日本機械学会ロボティクス・メカトロニクス部門講演会講演論文集  2007.5 

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  • マクロ-マイクロアクチュエータによる高出力高分解能力制御システムの開発

    大隅, 冨山,梶山

    日本機械学会ロボティクス・メカトロニクス部門講演会講演論文集  2007.5 

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  • トルクの冗長自由度を利用した四輪駆動型全方向移動台車の制御

    渡辺,天貝, 長瀬,大隅

    日本機械学会ロボティクス・メカトロニクス部門講演会講演論文集  2007.5 

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  • 照明環境の変化にロバストな実時間色認識手法の開発

    奥隅隆, 梅田和昇, 大隅久, 上田隆一, 新井民夫

    ロボティクスシンポジア  2007.3  ロボティクスシンポジア運営委員会

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  • サンプリング実時間Q-MDP法を用いた自律ロボットの行動決定

    実川達明, 上田隆一, 新井民夫, 竹下和孝, 長谷川悠史, 加瀬翔太, 奥隅隆, 梅田和昇, 大隅久

    ロボティクスシンポジア  2007.3  ロボティクスシンポジア運営委員会

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  • 胴体部姿勢を考慮した四足歩行ロボットの最短時間制御

    長谷川悠史, 大隅久, 梅田和昇, 上田隆一, 新井民夫

    ロボティクスシンポジア  2007.3  ロボティクスシンポジア運営委員会

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  • Autonomous Scooping of a Rock Pile by a Wheel Loader Using Disturbance Observer

    O,Kanai, H.Osumi, S.Sarata, M.Kurisu

    Proc. 23rd International Symposium on Automation and Rbotics in Construction  2006.10 

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  • Development of Autonomous System for Loading Operation by Wheel Loader

    S.Sarata, N.Koyachi, T.Tsubouchi, H.Osumi, M.Kurisu, K.Sugawara

    Proc. 23rd International Symposium on Automation and Robotics in Construction  2006.10 

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  • Control of A Redundant Manipulator Mouted on A Base Suspended by Six Wires

    H.Osumi, M.Saito

    Proc. Int. Conf. on Intelligent Robots and Systems  2006.10 

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  • Development of Bucket Scooping Mechanism for Analysis of Reaction Force against Rock Piles

    Y.Takahashi, R.yasuhara, O.Kanai, H.Osumi, S.Sarata

    Proc. 23rd International Symposium on Automation and Robotics in Construction  2006.10 

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  • 平行グリッパによる滑りを利用した物体の協調操り

    浅見大輔, 大隅久

    日本機械学会  2006.9 

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  • 平行グリッパによる滑りを利用した物体の協調操り

    浅見大輔, 大隅久

    ロボティクスシンポジア運営委員会  2006.5 

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  • カウンタウェイトを利用したワイヤ懸垂型マニピュレータの位置決め制御

    大隅久, 木村喬, 坂本博信

    ロボティクスシンポジア運営委員会  2006.5 

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  • ワイヤ懸垂系によるリンク機構の操り

    大隅久, 加戸通証, 相山康道

    ロボティクスシンポジア運営委員会  2006.5 

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  • 外乱オブザーバを利用したホイールローダによる土砂掬い取り制御

    高橋勇太, 安原良太郎, 金井理, 大隅久, 皿田滋, 小谷内範穂

    2006.5 

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  • 四足歩行ロボットの最短時間制御

    長谷川悠史, 神谷昌吾, 加藤博章, 大隅久, 梅田和昇, 上田隆一, 新井民夫

    2006.5 

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  • 触覚・力覚センサを用いたヒューマノイドロボット用足底センサの開発

    大隅久, 五郎部貴明, 山田昌利, 木下源一郎

    2006.5 

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  • Time Optimal Control for Quadruped Walking Robots

    H.Osumi, S.Kamiya, H.Kato, K.Umeda, R.Ueda, T.Arai

    Proc.IEEE Int. Conf. on Robotics and Automation  2006.5 

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  • 状態推定の不確かさを考慮した実時間行動決定

    上田隆一, 新井民夫, 坂本浩平, 実川達明, 竹下和孝, 梅田和昇, 大隅久, 小村正樹

    2005.9 

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  • パラレル構造を持つ高出力高分解能力制御デバイスの開発

    大丸達也, 井出裕美, 大隅久

    2005.9 

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  • ワイヤに懸垂されたベース上における冗長自由度マニピュレータの動的制御

    齋藤将之, 大隅久

    2005.9 

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  • 四輪独立駆動の全方向移動台車のコントロール

    中里峰雄, 渡辺高範, 大隅久, Sonia Von Wyl, Jean-Daniel Dessimoz

    2005.9 

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  • CCDカメラによるワイヤ振れ角計測と懸垂物の振れ止め制御

    三浦昭也, 永楽俊吾, 大隅久

    日本ロボット学会  2005.6 

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  • ワイヤ懸垂型室内移動マニピュレータの開発

    荒木泉, 大隅久

    日本ロボット学会  2005.6 

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  • ヒューマノイドの足底用力センサの開発

    木下源一郎, 太田千広, 山田昌利, 大隅久

    日本ロボット学会  2005.6 

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  • ロボカップ四足ロボットリーグにおける白線情報による自己位置同定

    白井真介, 上田隆一, 梅田和昇, 大隅久, 新井民夫

    日本ロボット学会  2005.6 

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  • ホイールローダによる土砂の掬い取り制御

    金井理, 清水成人, 大隅久, 皿田 滋, 坪内孝司, 栗栖正充, 安達弘典

    日本機械学会、日本ロボット学会、計測自動制御学会  2005.6 

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  • 状態行動地図のためのベクトル量子化手法の圧縮率向上

    上田隆一, 新井民夫, 坂本浩平, 実川達明, 竹下和考, 梅田和昇, 大隅久, 菊地敏文, 小村正樹

    2005.6 

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  • Control of Omni-Directional Mobile Platform with Four Driving Wheels

    Takao Nakazato, Sonia Von Wyl, Hisashi Osumi, Jean-Daniel Dessimoz

    Proc. of Int. Conf. on Dexterous Autonomous Robots and Humanoids  2005.5 

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  • CCDカメラを用いたワイヤ懸垂機構の振れ角制御

    三浦昭也, 永楽俊吾, 大隅久

    第10回ロボティクスシンポジア予稿集  2005.3 

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  • カウンタウェイトを用いたワイヤ懸垂型マニピュレータの位置決め制御

    坂本博信, 石川誠, 大隅久

    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講演論文集  2004.12 

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  • モンテカルロ・ローカライゼーションのための複合リセット法

    上田隆一, 新井民夫, 坂本浩平, 実川達明, 梅田和昇, 大隅久, 菊地敏文, 小村正樹

    日本ロボット学会学術講演会予稿集  2004.9 

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  • 土砂の掬い取り動作におけるバケット反力解析

    大隅久, 皿田滋, 平井雄介, 金井理

    第10回建設ロボットシンポジウム論文集  2004.9 

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  • Acquisition of Reaction Force Distributions for a Walking Humanoid Robot

    Genichiro Kinoshita, Chihiro Oota, Hisashi Osumi, Makoto Shimojo

    Proc. of IEEE/RSJ International Symposium on Intelligent Robots and Systems  2004.9 

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  • ヒューマノイドロボットの歩行時の足圧分布取得

    木下源一郎, 太田千弘, 大隅久, 山田昌利, 下条誠

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • ステレオカメラ法による脚ロボットのZMPのリアルタイム計測

    小村正樹, 大隅久, 神谷昌吾, 新井民夫, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • 力センサデータを利用した脚型移動マニピュレータの姿勢の最適化

    大野健一郎, 大隅久, 相山康道, 岡部仁

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • パラレル構造を持つ高分解能力制御デバイスの開発(第2報)

    大隅久, 石川誠, Hannes Bleuler

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • ホイールローダによる土砂搬送作業の自律化

    大隅久, 皿田滋, 坪内孝司, 栗栖正充, 安達弘典

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • 冗長自由度マニピュレータのベース反力制御

    大隅久, 山村卓也

    日本機械学会ロボティクス・メカトロニクス講演会2004講演論文集  2004.6 

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  • カメラ特性を考慮した自律移動ロボットのための環境・計測シミュレータの開発

    浅沼和範, 菊地敏文, 梅田和昇, 大隅久, 新井民夫

    第9回ロボティクスシンポジア予行集  2004.3 

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  • 4脚歩行ロボットの高速化

    神谷昌吾, 大隅久, 梅田和昇, 新井民夫

    第9回ロボティクスシンポジア予稿集  2004.3 

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  • ヒューマノイドロボットの全身遠隔操作

    木下源一郎, 太田千弘, 大隅久, 山田昌利, 下条誠

    第9回ロボティクスシンポジア予稿集  2004.3 

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  • Firm Standing of Legged Mobile Manipulator

    Takashi Tagawa, Yasumichi Aiyama, Hisashi Osumi

    Proc. 2003 IEEE Int. Conf. Robotics and Automation  2003.10 

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  • Trajectory Arrangement of Bucket Motion of Wheel Loader

    Shigeru Sarata, Hisashi Osumi, Gen Matsushima, Yusuke Hirai

    Proc. of 20th International Symposium on Automation and Robotics in Construction  2003.9 

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  • Development of Human Arm Motion Capture System

    Chisato Karasawa, Hisashi Osumi

    Proc. 2003 JSME-IIP/ASME-ISPS Joint Conf. on Micromechatronics for Information and Precision Equipment  2003.6 

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  • パラレル構造を持つ高分解能力制御デバイスの開発

    大隅久, 石川誠,HannesBleuler

    日本機械学会ロボティクス・メカトロニクス講演会’03講演論文集  2003.5 

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  • ワイヤ懸垂型マニピュレータの軌道生成

    大隅 久, 萩原宣利

    日本機械学会ロボティクス・メカトロニクス講演会’03講演論文集  2003.5 

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  • 脚歩行型移動マニピュレータの制御

    叶田壮兵, 大隅久

    第8回ロボティクスシンポジア予稿集  2003.3 

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  • 階層型パラレルワイヤ懸垂機構のコンプライアンス特性の解析

    清水将寛, 大隅 久, 五味雅志

    2003年度精密工学会春季大会学術講演会講演論文集  2003.3 

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  • Introduction of Yamazumi Project - Trial for Autonomous Heavy Vehicles at Construction Site

    Takashi Tsubouchi, Shigeru Sarata, Hisashi Osumi, Masamitsu Kurisu

    Proc. of 2002 IEEE International Conf. on Industrial Technology  2002.12 

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  • Vibration Analysis of Mechanical System with Hysteretic Nonlinearity Based on Measured Property

    N.Irino, H.Sato, H.Osumi, K.Watanabe, S.Kumakawa

    Proceedings of International Symposium on Experimental Mechanics  2002.12 

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  • 脚歩行型移動マニピュレータの制御

    叶田壮兵, 大隅久

    第18回日本ロボット学会学術講演会予稿集  2002.9 

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  • パラレル型ワイヤ懸垂系を利用したコンプライアンス制御機構の提案

    大隅 久, 五味雅志, 清水将寛

    日本機械学会ロボティクス・メカトロニクス講演会’02講演論文集  2002.5 

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  • 冗長自由度マニピュレータの遠隔操縦システムの開発

    古川哲郎, 山村卓也, 小西洋介, 大隅 久

    日本機械学会ロボティクス・メカトロニクス講演会’02講演論文集  2002.5 

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  • 脚移動型移動マニピュレータの制御

    叶田壮兵, 大隅 久, 相山康道, 小野寺一博

    日本機械学会ロボティクス・メカトロニクス講演会’02講演論文集  2002.5 

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  • 階層型パラレルワイヤ機構の開発

    大隅 久, 五味雅志, 清水将寛

    第7回ロボティクスシンポジア予稿集  2002.3 

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  • 微小センサを用いた人間の腕動作計測システムの開発

    唐澤, 大隅

    日本時計学会2002年春季マイクロメカトロニクス学術講演会講演論文集,日本時計学会  2002.3 

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  • 階層型パラレルワイヤ機構の開発第1報階層型パラレルワイヤ懸垂機構の提案

    五味, 大隅, 清水

    第19回日本ロボット学会学術講演会予稿集,日本ロボット学会  2001.9 

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  • 2段サーボを利用したワイヤ懸垂機構の振れ止め制御

    田代, 大隅, 岩田, 館野

    日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集,日本機械学会  2001.6 

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  • 脚式移動マニピュレータの静力学特性

    大隅, 小野寺, 増田, 相山

    日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集,日本機械学会  2001.6 

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  • ワイヤ懸垂機構に搭載された産業用ロボットの位置決め制御

    石川, 大隅

    日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集,日本機械学会  2001.6 

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  • 2段サーボを利用したワイヤ懸垂機構の振れ止め制御(第2報)

    田代, 大隅

    2001年精密工学会春季大会学術講演会講演論文集,精密工学会  2001.3 

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  • SPMによる潤滑膜の精密測定

    中島, 黒田, 高橋, 大隅, 保坂, 板生

    2001年精密工学会春季大会学術講演会講演論文集,精密工学会  2001.3 

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  • ホイールローダによる土砂の自動すくい取り制御

    平井, 大隅, 皿田, 松嶋

    2001年精密工学会春季大会学術講演会講演論文集,精密工学会  2001.3 

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  • 脚移動型マニピュレータの力学解説

    小野寺, 増田, 大隅, 相山

    2001年精密工学会春季大会学術講演会講演論文集,精密工学会  2001.3 

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  • ワイヤ懸垂機構に搭載された産業用ロボットの位置決め制御

    石川, 大隅

    日本機械学会関東支部第7期総会講演会講演論文集,日本機械学会  2001.3 

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  • 2段サーボを利用したワイヤ懸垂機構の振れ止め制御(第1報)

    田代, 大隅

    2000年精密工学会秋季大会学術講演会講演論文集,精密工学会  2000.10 

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  • ホイールローダによる自動ハンドリング

    松嶋, 大隅, 平井, 皿田

    第18回日本ロボット学会学術講演会予稿集,日本ロボット学会  2000.9 

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  • ワイヤ懸垂型マニピュレータの開発(第1報)

    越川, 大隅, 宇津木

    第18回日本ロボット学会学術講演会予稿集,日本ロボット学会  2000.9 

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  • 掘削反力に基づくホイールローダのバケット軌道制御

    皿田, 大隅, 松嶋, 桐生

    第8回建設ロボットシンポジウム論文集  2000.7 

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  • ホイールローダによるすくい取り制御

    松嶋, 大隅, 皿田, 桐生

    日本機会学会ロボティクス・メカトロニクス講演会'00講演論文集(CD-ROM),日本機会学会  2000.5 

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  • ワイヤ懸垂型マニピュレータの開発(第1報)

    越川, 大隅, 宇津木

    日本機会学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機会学会  2000.5 

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  • 受動関節機構を利用した3台の産業用ロボットによる協調作業

    大隅, 加賀谷, 漆原英裕, 永井卓真

    日本機会学会ロボティクス・メカトロニクス講演会'00講演論文集(CD-ROM),日本機会学会  2000.5 

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  • 把持力を利用した平行2本指ハンドによる力計測

    高橋, 原田, 大隅, 梅田, 木下

    日本機会学会ロボティクス・メカトロニクス講演会'00講演論文集(CD-ROM),日本機会学会  2000.5 

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  • 3台の産業用ロボットによる協調制御

    大隅久, 加賀谷学, 漆原英裕, 永井卓真

    第5回ロボティクスシンポジア予稿集,日本ロボット学会  2000.3 

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  • ワイヤ懸垂機構の階層化

    越川昌浩, 宇津木康, 大隅久

    2000年度精密工学会春季大会学術講演会講演論文集,精密工学会  2000.3 

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  • 階層型パラレルワイヤ懸垂機構の提案

    宇津木康, 大隅久

    第17回日本ロボット学会学術講演会予稿集,日本ロボット学会  1999.9 

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  • 動触覚像の取得とフロー

    栗本雄仁, 木下源一郎, 大隅久

    第17回日本ロボット学会学術講演会予稿集,日本ロボット学会  1999.9 

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  • 複数の移動マニピュレータによる物体の協調搬送制御(第4報)

    岡崎崇, 栗林簾, 野尻尚, 大隅久

    第17回日本ロボット学会学術講演会予稿集,日本ロボット学会  1999.9 

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  • 高コンプライアンス形触覚センサのキャリブレーション

    熊野亮, 松本直樹, 木下源一郎, 大隅久, 村奈嘉与一

    第17回日本ロボット学会学術講演会予稿集,日本ロボット学会  1999.9 

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  • 冗長自由度マニピュレータのコンプライアンス制御

    小西洋介, 大隅久, 宇津木康, 板橋淳二

    第17回日本ロボット学会学術講演会予稿集,日本ロボット学会  1999.9 

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  • ワイヤ懸垂型マニピュレータの位置制御

    大隅久, 本田進

    日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集(CD-ROM)  1999.6 

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  • 階層型パラレルワイヤ懸垂機構の提案

    宇津木康, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集(CD-ROM),日本機械学会  1999.6 

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  • 車輪移動機構を有する3台の移動ロボットによる協調搬送制御実験

    栗林廉, 野尻尚, 岡崎崇, 大隅久

    日本機械学会ロボティクス・メカトロニクス講演会'99講演論文集(CD-ROM),日本機械学会  1999.6 

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  • 2次元触覚センサを有する平行2本指ハンドの物体把持力決定法

    大隅久, 石井伸彦, 高橋健太郎, 梅田和昇, 木下源一郎

    第4回ロボティクスシンポジア予稿集,日本ロボット学会  1999.3 

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第4報) 平行指ハンドの最適把持力とセンサ精度の関係-

    石井伸彦, 高橋健太郎, 大隅久, 梅田和昇, 木下源一郎

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • 3台の位置制御型マニピュレータによる物体の操り

    大隅久, 加賀谷学

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • SNOMを用いた光ナノメモリの再生出力評価

    高橋祐介, 大隅久, 保坂寛, 板生清, 光岡靖幸, 中島邦雄

    日本機械学会IIP'98情報・知能・精密機器部門講演会講演論文集,日本機械学会  1999.3 

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  • ワイヤ懸垂機構の階層化

    宇津木康, 大隅久

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • 高コンプライアンス形接触センサの試作とその形状識別への応用

    木下源一郎, 菅野泰夫, 吉田嘉明, 大隅久, 梅田和昇, 村奈嘉与一

    第4回ロボティクスシンポジア予稿集  1999.3 

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  • 冗長マニピュレータのテレオペレーション(第一報) -冗長空間へのコンプライアンス制御の導入-、

    宇津木康, 大隅久, 小西洋介, 板橋淳二, 藤井博章

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • 複数の移動台車による協調搬送システムの開発(第1報)-フィードバック制御される移動台車の路面凹凸における挙動解析-

    大隅久, 野尻尚, 栗林廉, 岡崎崇

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • 視触覚融合による多面体の形状計測

    村上清, 梅田和昇, 木下源一郎, 大隅久

    1999年度精密工学会春季大会学術講演会講演論文集,精密工学会  1999.3 

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  • 2次元触覚センサを利用した平行2本指ハンドによる最適把持

    石井伸彦, 高橋健太郎, 大隅久, 梅田和昇, 木下源一郎

    第16回日本ロボット学会学術講演会予稿集,日本ロボット学会  1998.9 

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  • ロボット指の触覚データによる物体表面推定

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    第16回日本ロボット学会学術講演会予稿集,日本ロボット学会  1998.9 

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  • ワイヤ懸垂型マニピュレータの開発(第1報)-運動学・静力学の解析-

    大隅久

    1998年度精密工学会秋季大会学術講演会講演論文集,精密工学会  1998.9 

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  • プローブセンサによるタッピング運動の解析

    高橋祐介, 高橋英樹, 大隅久, 保坂寛, 板生清

    日本機械学会IIP'98情報・知能・精密機器部門講演会講演論文集,日本機械学会  1998.8 

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  • 2次元触覚センサを利用した組立作業時の接触位置計測

    石井, 大隅, 梅田, 木下

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • テレオペレーションを用いた冗長自由度マニピュレータの障害物回避

    宇津木, 藤井, 小倉, 大隅

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • 凹凸路面を走行する複数の移動台車による協調搬送制御

    大隅, 外山, 野尻, 栗林

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • 視覚情報と触覚情報の融合による多面体・円筒の三次元計測

    古川, 梅田, 大隅, 木下, 坂根

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • 視触覚センシング情報の統融合化

    ヨヨック・イクサン, 木下, 大隅, 梅田, 坂根

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • 複数台の産業用ロボットによる協調作業

    大隅, 藤林, 加賀谷

    日本機械学会ロボティクス・メカトロニクス講演会'98講演論文集(CD-ROM),日本機械学会  1998.6 

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  • ロボット指による物体表面への触覚センシング行動

    木下源一郎, ヨヨック・イクサン, 大隅久, 梅田和昇

    第3回ロボティクスシンポジア予稿集,日本ロボット学会  1998.5 

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第3報)─触覚センサによる接触位置計測実験─

    石井,村上, 大隅, 梅田,木下

    1998年度精密工学会春季大会学術講演会講演論文集,精密工学会  1998.3 

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  • 3本のワイヤを有するクレーンを利用した懸垂物の挿入制御アルゴリズム

    大隅,杉原

    1998年度精密工学会春季大会学術講演会講演論文集,精密工学会  1998.3 

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  • アスペクト情報を用いた視触覚情報の融合化

    ヨヨック・イクサン, 木下,大隅

    電気学会システム・制御研究会資料,電気学会  1998.3 

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  • 凹凸路面における複数の移動ロボットの協調搬送制御

    大隅,外山, 野尻, 栗林,勝川

    1998年度精密工学会春季大会学術講演会講演論文集,精密工学会  1998.3 

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  • 受動関節機構を用いた2台の産業用ロボットによる協調制御

    大隅,藤林, 加賀谷

    1998年度精密工学会春季大会学術講演会講演論文集,精密工学会  1998.3 

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  • 冗長自由度を有するマスタ・スレーブマニピュレータの制御

    小倉, 藤井,大隅

    1998年度精密工学会春季大会学術講演会講演論文集,精密工学会  1998.3 

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  • ロボットハンド・指の錯触覚センシング行動

    木下,大隅, ヨヨック・イクサン

    電気学会システム・制御研究会資料,電気学会  1998.1 

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  • 2次元触覚センサを利用した平行2本指ハンドによる位置計測

    石井,宮下, 大隅, 梅田,木下

    第15回日本ロボット学会学術講演会予稿集,ロボット学会  1997.9 

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  • 2台の産業用ロボットの協調搬送制御

    藤林,大隅, 加賀谷,橋本

    第15回日本ロボット学会学術講演会予稿集,ロボット学会  1997.9 

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  • 視覚情報と触覚情報の融合による三次元エッジの計測

    古川,岸本, 梅田, 大隅,木下

    第15回日本ロボット学会学術講演会予稿集,ロボット学会  1997.9 

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  • 複数の移動マニピュレータによる物体の搬送制御(第3報)─協調搬送制御実験─

    大隅,寺澤, 外山,野尻

    第15回日本ロボット学会学術講演会予稿集,ロボット学会  1997.9 

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  • Assembly of Wire Suspended Object by a Crane with Three Wires

    Hisashi OSUMI, Gakuji HASHIMOTO, Masami SUGIHARA

    Proc. 2nd Asian Control Conference  1997.7 

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  • 2次元触覚センサを利用した平行2本指ハンドによる力計測

    宮下,石井, 大隅,山口, 梅田,木下

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • ワイヤ懸垂系のコンプライアンス制御

    大隅, 杉原,橋本

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • ワイヤ懸垂系の機構コンプライアンスを利用した懸垂物の自動組立

    大隅, 宇田川, 橋本

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • 視覚と触覚の融合による局所形状特徴の計測

    梅田,古川, 大隅,木下

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • 受動関節機構の切り替えを利用した2台の産業用ロボットの協調制御

    大隅,藤林, 加賀谷,小野

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • 複数の移動ロボットによる協調搬送システムの凹凸路面走行時におけるフィードバック制御

    大隅,寺澤, 外山,野尻

    日本機械学会ロボティクス・メカトロニクス講演会’97講演論文集,日本機械学会  1997.6 

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第2報)-把持物体と環境との接触点検出のための基礎実験-

    大隅,宮下, 石井,東郷, 梅田,木下

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • ワイヤ懸垂機構のコンプライアンス制御

    大隅,橋本, 杉原, 宇田川

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • ワイヤ懸垂系の機構コンプライアンスを利用した懸垂物の自動組立て

    大隅,宇田川, 橋本,杉原

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • 局所的な特徴に着目した視覚情報と触覚情報の融合

    梅田,古川, 大隅,木下

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • 受動関節機構を利用した2台の産業用ロボットの協調制御実験

    小野,藤林, 加賀谷,大隅

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • 平行2本指ハンドのための分布形触覚センサの開発とその応用

    山口 大介, 木下 源一郎, 宮下 知子, 大隅 久, 梅田 和昇

    電気学会シンポジウム,電気学会  1997.3 

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  • 路面の凹凸を考慮した複数の移動ロボットの協調搬送制御

    大隅,寺澤, 外山,野尻, 入野,宮崎

    1997年度精密工学会春季大会学術講演会講演論文集,精密工学会  1997.3 

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  • アスペクト情報に基づく感覚行動と操作行動による物体の理解-組み付け作業における視触覚情報の融合-

    木下 源一郎, 大隅 久, 梅田 和昇

    第2回重点領域研究「知的ロボット」シンポジウム  1997.1 

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  • 複数の移動マニピュレータによる物体の搬送制御(第2報)-凹凸路面-

    大隅, 寺澤,外山

    第14回日本ロボット学会学術講演会予稿集,日本ロボット学会  1996.11 

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  • 平行2本指ハンドのための分布形触覚センサの開発

    山口,宮下, 木下, 大隅,梅田

    第14回日本ロボット学会学術講演会予稿集,日本ロボット学会  1996.11 

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  • 受動関節機構を用いた2台の産業用ロボットの協調制御

    大隅,小野, 藤林, 加賀谷

    1996年度精密工学会秋季大会学術講演会講演論文集,精密工学会  1996.9 

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  • 分布形触覚センサを有する平行2本指ハンドの開発

    木下,山口, 宮下, 大隅,梅田

    第35回計測自動制御学会学術講演会,計測自動制御学会  1996.7 

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  • 2次元触覚センサを利用した把持物体と環境上の接触点検出

    大隅,宮下, 梅田,木下

    日本機械学会ロボティクス・メカトロニクス講演会'96講演論文集,日本機械学会  1996.6 

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  • 位置制御マニピュレータの協調による接触組立作業

    大隅,福岡, 相山, 新井,平林

    日本機械学会ロボティクス・メカトロニクス講演会'96講演論文集,日本機械学会  1996.6 

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  • 凹凸路面における複数の移動ロボットの協調搬送制御

    大隅,寺澤

    日本機械学会ロボティクス・メカトロニクス講演会'96講演論文集,日本機械学会  1996.6 

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  • 受動関節機構を利用した2台の産業用ロボットの協調制御

    大隅, 小野,藤林

    日本機械学会ロボティクス・メカトロニクス講演会'96講演論文集,日本機械学会  1996.6 

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  • 2次元触覚センサを用いた把持物体と環境との接触点検出

    大隅 久, 宮下 知子, 梅田 和昇, 木下 源一郎

    第1回ロボティクスシンポジア予稿集,日本ロボット学会  1996.5 

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第1報)-把持物体と環境との接触点検出アルゴリズムの提案

    大隅 久, 宮下和子, 梅田和昇, 木下源一郎

    1996年度精密工学会春季大会学術講演会講演論文集  1996.3 

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  • 触覚情報を用いた把持物体と環境との接触情報検出

    大隅 久, 梅田和昇, 木下源一郎

    電気学会シンポジウムSC-96-23  1996.3 

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  • 触覚情報を用いた把持物体と環境との接触情報検出

    大隅 久, 梅田和昇, 木下源一郎

    電気学会シンポジウムSC-96-23,電気学会  1996.3 

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  • ロボットハンドによる組立動作の自動生成(第1報)-触覚情報に基づく把持物体と環境の接触点検出アルゴリズムの提案-

    木下源一郎, 大隅 久, 梅田和昇

    第1回重点領域研究「知能ロボット」シンポジウム  1996.1 

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  • 位置制御マニピュレータの協調による接触組立作業

    福岡俊康, 相山康道, 新井民夫, 大隅 久

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 複数ワイヤ懸垂系におけるZMPを利用した運動軌道の生成

    前田雄介, 沈 于思, 大隅 久, 新井民夫

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 平行2本指ハンドの触覚行動による把持物体と環境との接触点検出

    大隅 久, 梅田和昇, 木下源一郎

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 双腕協調による穴探索に関する研究

    南 誠, 大隅 久, 新井民夫, 森山耕一

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 位置制御系を有する複数のマニピュレータによる物体の操り(第1報)-協調のための機構設計-

    大隅 久

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 複数の移動マニピュレータによる物体の搬送制御(第1報)-協調系の運動学解析-

    大隅 久

    日本ロボット学会第13回学術講演会予稿集  1995.11 

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  • 受動関節機構を用いた複数のマニピュレータの協調制御

    大隅 久, 小野 学

    1995年度精密工学会秋季大会学術講演会講演論文集  1995.10 

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  • 移動マニピュレータの協調搬送制御

    大隅 久, 寺澤正俊

    1995年度精密工学会秋季大会学術講演会講演論文集  1995.10 

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  • バネ関節と受動関節を有する協調系による組立

    福岡俊康, 大隅 久, 新井民夫

    日本機械学会ロボティクス・メカトロニクス講演会'95 講演論文集  1995.6 

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  • ZMPを安定規範として利用するワイヤ懸垂系の運動制御

    大隅 久, 前田雄介, 沈 于思, 新井民夫

    日本機械学会ロボティクス・メカトロニクス講演会'95 講演論文集  1995.6 

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  • 協調制御のための受動関節機構の設計

    大隅 久

    日本機械学会ロボティクス・メカトロニクス講演会'95 講演論文集  1995.6 

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  • 移動マニピュレータの軌道制御(第2報)-大域的軌道計画法の提案-

    森 素子, 大隅 久, 新井民夫

    1995年度精密工学会春季大会学術講演会講演論文集  1995.3 

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  • ZMPを安定規範とするワイヤ懸垂系の運動軌道の生成

    大隅 久, 前田雄介, 沈 于思, 新井民夫

    1995年度精密工学会春季大会学術講演会講演論文集  1995.3 

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  • 双腕協調による穴探索・挿入作業

    大隅 久, 福岡俊康, 新井民夫, 森山耕一

    1995年度精密工学会春季大会学術講演会講演論文集  1995.3 

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  • フリージョイント機構を用いたクレーン・ロボット協調システム

    大隅 久, 吉田直己, 沈 于思, 新井民夫, 浅間一, 嘉悦早人, 遠藤 勲

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 複数のマクロ・マイクロマニピュレータによる協調制御

    大隅 久, 福岡俊康, 新井民夫, 森山耕一, 鳥居 元

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 複数移動ロボットによる協調搬送時における把持位置決定法

    佐々木順, 太田 順, 吉田英一, 倉林大輔, 大隅 久, 新井民夫

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 複数の移動ロボットの協調による搬送作業の実現(第3報:持ち替え動作を含んだ障害物回避行動の実現)

    太田順, 吉田英一, 倉林大輔, 佐々木順, 宮田なつき, 新井民夫, 大隅 久

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • ワイヤ懸垂系における運動制御

    大隅 久, 沈 于思, 新井民夫

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 位置制御系を有する複数のマニピュレータの協調制御

    大隅 久, 新井民夫

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 複数の移動マニピュレータの協調制御

    大隅 久, 新井民夫

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 移動マニピュレータの大域的軌道計画

    森素子, 大隅 久, 新井民夫

    日本ロボット学会第12回学術講演会予稿集  1994.11 

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  • 位置制御される複数の移動ロボットの協調制御機構の設計

    大隅 久, 新井民夫

    日本機会学会ROBOMEC'94 講演論文集  1994.6 

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  • ワイヤ懸垂系の機構解析

    沈 于思, 大隅 久, 新井民夫, 瀬尾浩司

    日本機会学会ROBOMEC'94 講演論文集  1994.6 

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  • 微動・粗動系からなる双腕マニピュレータの協調制御

    大隅 久, 新井民夫, 福岡俊康, 森山耕一, 鳥居 元

    日本機会学会ROBOMEC'94 講演論文集  1994.6 

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  • 複数のワイヤによる懸垂物の操りに関する研究(第3報)-懸垂物の振動制御-

    大隅 久, 瀬尾浩司, 沈 于思, 新井民夫

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • ワイヤ懸垂型マニピュレータの制御

    松村章二郎, 大隅 久, 新井民夫

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 移動ロボットの協調搬送のための機構設計

    大隅 久, 新井民夫

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 複数の閉ループ系を含むマニピュレータの運動学解析

    小橋隆昭, 大隅 久, 新井民夫

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 微動・粗動系からなるマニピュレータの協調制御

    大隅 久, 福岡俊康, 新井民夫, 森山耕一, 鳥居 元

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 複数のワイヤによる懸垂機構の制御(第9報)-クレーンとロボット協調システムの実現-

    大隅 久, 吉田直己, 新井民夫, 浅間 一, 嘉悦早人, 遠藤 勲

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 複数の移動ロボットの協調による搬送制御(第2報)-ローカルなセンサ情報に基づいた協調手法の提案-

    武衛康彦, 太田 順, 大隅 久, 新井民夫, 陶山毅一, 長谷川潔

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 複数の移動ロボットの協調による搬送制御(第3報)-ロボット間通信を用いた作業の実現-

    長谷川潔, 太田順, 武衛康彦, 大隅 久, 新井民夫, 陶山毅一

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 複数の移動ロボットの協調による大型対象物の把持

    太田順, 佐々木順, 吉田英一, 倉林大輔, 大隅 久, 新井民夫

    1994年度精密工学会春季大会学術講演会講演論文集  1994.3 

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  • 自動組立用ハンドを用いた組付穴探索に関する研究

    森山耕一, 鳥居 元, 小飼雅道, 遠藤 亘, 大隅 久, 新井民夫

    1993年度精密工学会秋季大会学術講演会講演論文集  1993.11 

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  • クレーンとロボットの協調制御系におけるロボットの最適姿勢の決定

    大隅 久, 沈 于思, 新井民夫, 吉田直己

    1993年度精密工学会秋季大会学術講演会講演論文集  1993.11 

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  • 移動マニピュレータの軌道制御(第1報:衝突回避を考慮した制御)

    森 素子, 大隅 久, 小橋隆昭, 新井民夫

    1993年度精密工学会秋季大会学術講演会講演論文集  1993.11 

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  • 自律分散ロボットシステムにおける協調のための機構設計

    大隅 久, 新井民夫

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • 自動組立用ハンドを用いた組付け穴探索に関する研究

    森山耕一, 鳥居 元, 小飼雅道, 遠藤 亘, 大隅 久, 新井民夫

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • 複数の移動ロボットの協調による搬送作業の実現

    武衛康彦, 太田順, 大隅 久, 新井民夫, 陶山毅一

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • ワイヤ懸垂型マニピュレータの研究(第2報 動力学解析)

    松村章二郎, 大隅 久, 新井民夫, 浜出 真

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • ワイヤ駆動系における可操作性

    沈 于思, 大隅 久, 新井民夫

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • 移動マニピュレータの軌道制御

    森 素子, 大隅 久, 小橋隆昭, 新井民夫

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • 3本のワイヤを有する7自由度クレーンの開発(第5報)-産業用ロボットとの協調制御-

    大隅 久, 新井民夫, 村上 智, 浅間 一, 嘉悦早人, 遠藤 勲

    日本ロボット学会第11回学術講演会予稿集  1993.11 

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  • マニピュレータ搭載型移動ロボットの軌道制御

    大隅 久, 森 素子, 小橋隆昭, 新井民夫

    日本機会学会ROBOMEC'93 講演論文集  1993.7 

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  • 産業用ロボットとクレーンの協調制御

    大隅 久, 村上 智, 新井民夫, 浅間 一, 嘉悦早人, 遠藤 勲

    日本機会学会ROBOMEC'93 講演論文集  1993.7 

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  • 複数のワイヤによる懸垂機構の制御(第8報)-クレーンとロボットの協調制御-

    大隅 久, 村上 智, 新井民夫, 藤平雅信, 沈 于思, 浅間 一, 嘉悦早人

    1993年度精密工学会春季大会学術講演会講演論文集  1993.3 

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  • 複数のワイヤによる懸垂物の操りに関する研究(第2報)-ワイヤ駆動系における可操作性-

    沈 于思, 大隅 久, 新井民夫

    1993年度精密工学会春季大会学術講演会講演論文集  1993.3 

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  • 外部環境との接触を利用した多自由度柔軟マニピュレータの手先剛性制御

    佐藤賢一, 大隅 久, 新井民夫

    1993年度精密工学会春季大会学術講演会講演論文集  1993.3 

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  • 動力学的冗長自由度を利用した力制御

    斉木 啓, 新井民夫, 大隅 久

    1993年度精密工学会春季大会学術講演会講演論文集  1993.3 

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  • マニピュレータを搭載した移動ロボットの制御

    大隅 久, 森 素子, 小橋隆昭, 新井民夫

    1993年度精密工学会春季大会学術講演会講演論文集  1993.3 

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  • 複数の移動ロボットの協調による搬送作業の実現

    武衛康彦, 太田 順, 大隅 久, 新井民夫, 陶山毅一

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • 動力学的冗長自由度を利用した力制御に関する研究

    斉木啓, 新井民夫, 大隅 久

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • ワイヤ懸垂型マニピュレータの運動学解析

    大隅 久, 松村章二郎, 新井民夫, 浜出 真

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • パラメータ変動による懸垂物の振れ止め制御

    松村章二郎, 太田 順, 新井民夫, 大隅 久

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • 3本のワイヤを有する7自由度クレーンの開発(第4報)-懸垂物の振動制御-

    大隅 久, 藤平雅信, 新井民夫, 浅間 一, 嘉悦早人

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • 複数のサブシステムから構成された冗長マニピュレータの制御

    大隅 久, 小橋隆昭, 新井民夫

    日本ロボット学会第10回学術講演会予稿集  1992.11 

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  • 複数の幾何的拘束を受ける物体の可動空間の導出

    加藤 学, 大隅 久, 新井民夫

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • マニピュレータの手と腕の協調制御

    大隅 久, 小橋隆昭, 新井民夫

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 画像を用いた移動ロボット間の通信システム

    太田 順, 前田健太郎, 新井民夫, 大隅 久

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 複数の移動ロボットの協調による搬送制御

    太田 順, 武衛康彦, 新井民夫, 大隅 久

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • ワイヤ懸垂型ロボットの運動学解析(第1報)-システムの特性解析-

    大隅 久, 浜出 真, 新井民夫

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • ワイヤ長の制御による懸垂物の振れ止め

    太田 順, 松村章二郎, 新井民夫, 大隅 久

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 複数のワイヤによる懸垂機構の制御(第6報)-クレーンの動力学解析-

    新井民夫, 大隅 久, 藤平雅信

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 複数のワイヤによる懸垂機構の制御(第7報)-挿入作業の実現-

    大隅 久, 新井民夫, 伊藤文孝

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 複数のワイヤによる対象物の操りに関する研究(第1報)-任意の操りのための機構的条件-

    大隅 久, 沈 于思, 新井民夫

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • アニーリング法を用いた冗長自由度マニピュレータの逆運動学解析

    山口博明, 西川泰浩, 藤平雅信, 新井民夫, 大隅 久

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • マニピュレータを搭載した移動ロボットの軌道生成

    小橋隆昭, 大隅 久, 太田 順, 森 素子, 武衛康彦, 新井民夫

    1992年度精密工学会春季大会学術講演会講演論文集  1992.3 

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  • 複数の幾何的拘束を受ける物体の可動空間の導出

    加藤 学, 大隅 久, 新井民夫

    日本ロボット学会第9回学術講演会予稿集  1991.11 

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  • 2本の弾性アームによる振動懸垂物の把持

    大隅 久, 佐藤賢一, 新井民夫

    日本ロボット学会第9回学術講演会予稿集  1991.11 

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  • 動力学的冗長自由度を用いたロボット制御トルクの最適化

    斉木 啓, 新井民夫, 邱 士軒, 大隅 久

    日本ロボット学会第9回学術講演会予稿集  1991.11 

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  • 手先の弾性を考慮した複数のマニピュレータの協調制御(第1報)-運動学的解析-

    大隅 久, 新井民夫

    日本ロボット学会第9回学術講演会予稿集  1991.11 

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  • 手先の弾性を考慮した複数のマニピュレータの協調制御(第2報)-制御系の設計-

    大隅 久, 新井民夫

    日本ロボット学会第9回学術講演会予稿集  1991.11 

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  • 複数の低剛性アームによる振動物に把持

    大隅 久, 佐藤賢一, 新井民夫

    1991年度精密工学会秋季大会学術講演会講演論文集  1991.10 

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  • 動力学的冗長自由度を用いたロボット制御トルクの最適化

    新井民夫, 斉木 啓, 邱 士軒, 大隅 久

    1991年度精密工学会春季大会学術講演論文集  1991.3 

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  • 先端に弾性部を有する複数のマニピュレータの協調制御(第1報)-運動学解析-

    大隅 久, 新井民夫

    1991年度精密工学会春季大会学術講演会講演論文集  1991.3 

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  • 先端に弾性部を有する複数のマニピュレータの協調制御(第2報)-制御系の設計-

    大隅 久, 新井民夫

    1991年度精密工学会春季大会学術講演会講演論文集  1991.3 

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  • 複数のワイヤによる懸垂機構の制御(第5報)-クレーンの逆運動学-

    大隅 久, 新井民夫, 榎本裕治

    1991年度精密工学会春季大会学術講演会講演論文集  1991.3 

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  • 幾何学的拘束関係に関する研究(第2報)-可動空間表現に適した座標系の設定-

    新井民夫, 坂口明彦, 加藤 学, 大隅 久

    1991年度精密工学会春季大会学術講演会講演論文集  1991.3 

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  • 3本のワイヤを有する7自由度クレーンの開発(第2報)-クレーンの設計と試作-

    大隅 久, 新井民夫, 山口博明, 榎本裕治, 浅間 一, 嘉悦早人, 浦井輝夫

    日本ロボット学会第8回学術講演会予稿集  1990.11 

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  • 3本のワイヤを有する7自由度クレーンの開発(第3報)-クレーンの逆運動学-

    大隅 久, 新井民夫, 榎本裕治

    日本ロボット学会第8回学術講演会予稿集  1990.11 

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  • 幾何学的拘束関係に関する研究

    新井民夫, 大隅 久, 加藤 学, 坂口明彦

    1990年度精密工学会秋季大会学術講演会講演論文集  1990.9 

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  • クレーンとロボットの協調制御による懸垂物の位置決め

    大隅 久, 新井民夫

    1990年度精密工学会秋季大会学術講演会講演論文集  1990.9 

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  • 複数のワイヤによる懸垂機構の制御(第4報)

    新井民夫, 大隅 久, 榎本裕治, 浅間 一, 嘉悦早人

    1990年度精密工学会秋季大会学術講演会講演論文集  1990.9 

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  • 間接間相互干渉特性を利用したロボットの高速化

    邱 士軒, 大隅 久, 新井民夫

    1990年度精密工学会春季大会学術講演会講演論文集  1990.3 

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  • 複数の弾性アームの協調制御

    吉田英一, 大隅 久, 新井民夫

    1990年度精密工学会春季大会学術講演会講演論文集  1990.3 

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  • 複数のワイヤによる懸垂機構の制御(第2報)

    山口博明, 大隅 久, 新井民夫

    1990年度精密工学会春季大会学術講演会講演論文集  1990.3 

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  • 複数のワイヤによる懸垂機構の制御(第3報)

    大隅 久, 山口博明, 新井民夫, 浅間 一, 浦井輝夫

    1990年度精密工学会春季大会学術講演会講演論文集  1990.3 

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  • 2つの弾性アームにより保持された物体の搬送制御

    大隅 久, 新井民夫, 吉田英一, 佐藤宏行

    日本ロボット学会第7回学術講演会予稿集  1989.11 

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  • 分布定数系モデルを利用した旋回型クレーンの振動制御

    太田 順, 大隅 久, 新井民夫

    日本ロボット学会第7回学術講演会予稿集  1989.11 

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  • 3本のワイヤを有する7自由度クレーンの開発(第1報)-運動学解析-

    大隅 久, 新井民夫, 浅間 一, 遠藤 勲

    日本ロボット学会第7回学術講演会予稿集  1989.11 

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  • 間接間干渉特性を利用したロボットの制御

    邱 士軒, 新井民夫, 大隅 久

    日本ロボット学会第7回学術講演会予稿集  1989.11 

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  • 剛体アームと弾性体アームの協調制御

    大隅 久, 新井民夫, 佐藤宏行

    1989年度精密工学会秋季大会学術講演会講演論文集  1989.11 

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  • 負荷対応可能な非干渉一定慣性ロボットの開発

    邱 士軒, 大隅 久, 新井民夫

    1989年度精密工学会春季大会学術講演会講演論文集  1989.3 

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  • 振子付きフレキシブルアームの制御(第2報)

    大隅 久, 太田 順, 新井民夫

    1989年度精密工学会春季大会学術講演会講演論文集  1989.3 

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  • 複数のワイヤによる懸垂機構の制御(第1報)

    大隅 久, 新井民夫, 浅間 一

    1989年度精密工学会春季大会学術講演会講演論文集  1989.3 

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  • 振子付きフレキシブルアームの制御(第1報)

    太田 順, 大隅 久, 新井民夫

    昭和63年度精密工学会秋季大会学術講演会講演論文集  1988.3 

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  • 小型ロボットによる重量物組立システムの開発(第1報)

    大隅 久, 太田 順, 新井民夫

    日本ロボット学会第5回学術講演会予稿集  1987.11 

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  • 小型ロボットによる重量物組立システムの開発(第2報)

    太田 順, 大隅 久, 新井民夫

    日本ロボット学会第5回学術講演会予稿集  1987.11 

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  • 低剛性アームを用いた重量物組立てに関する研究

    大隅 久, 新井民夫, 太田 順

    昭和62年度精密工学会春季大会学術講演会講演論文集,精密工学会  1987.3 

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  • 小型ロボットによる重量物組立て

    大隅 久, 新井民夫

    日本ロボット学会第3回学術講演会予稿集  1986.11 

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Awards

  • 精密工学会誌インパクト賞

    2023.3   精密工学会   ロボット工学の基礎

    大隅 久

  • FA Foundation Paper Award

    2022.12   FA Foundation  

  • 第19回建設ロボットシンポジウム 優秀ポスター賞

    2019.10   建設ロボット研究連絡協議会   バックホーによる土砂掘削時の前方堆積土砂形状の生成メカニズム

    大隅久, 楢崎広幸, 峯拓生, 佐野裕介, 呉春男

  • 日本機械学会創立120周年記念功労者表彰

    2017.11   日本機械学会   事業功労(出版物)東日本大震災調査・提言分科会

    東日本大震災調査, 提言分科会

  • 日本機械学会ロボティクス・メカトロニクス部門 部門功績賞

    2013.5   日本機械学会  

  • 日本機械学会教育賞

    2013.4   日本機械学会   教科書ロボティクスの執筆および教育方法改善の取り組み

    教科書ロボティクス出版委員会

  • 日本機械学会ロボティクスメカトロニクス部門 部門貢献表彰

    2009.5   日本機械学会ロボティクスメカトロニクス部門   第11回ロボットグランプリ実行委員長としての業績に対して

    大隅 久

  • 文部科学大臣表彰 科学技術賞 (理解増進部門)

    2009.4   文部科学省   著作活動を通じたロボット工学の理解増進

    大隅久, 米田完, 坪内孝司

  • 日本機械学会教育賞

    2008.4   日本機械学会   「はじめてのロボット創造設計,ここが知りたいロボット創造設計,これならできるロボット創造設計」の著作

  • 学術研究奨励賞

    2007.3   中央大学  

  • ISARC BEST PAPER AWARD

    2006.10   ISARC ORGANIZING COMMITTEE   Development of Autonomous System for Loading Operation by Wheel Loader

    Shigeru SARATA, Noriho KOYACHI, Hisashi OSUMI, Masamitsu KURISU, Kazuhiro, SUGAWARA

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Research Projects

  • Parallel wire suspension system using four wires for large space movement

    Grant number:20K04383  2020.4 - 2023.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)  Chuo University

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    Grant amount: \4160000 ( Direct Cost: \3200000 、 Indirect Cost: \960000 )

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  • Cooperative Assembly System Consisting of Three Robots with Wire Suspension Mechanism

    2017.4 - 2020.3

    Ministry of Education, Culture, Sports, Science and Technology (MEXT)  Grants-in-Aid for Scientific Research  Grants-in-Aid for Scientific Research (C) 

    Hisashi Osumi

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \4420000 ( Direct Cost: \3400000 、 Indirect Cost: \1020000 )

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  • 無侵襲デバイスによる高齢者の運動機能のフィールド計測・解析と運動介入評価

    2013.4 - 2016.3

    文部科学省  科学研究費補助金(日本学術振興会・文部科学省)-基盤研究(C) 

    太田裕治

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    Grant type:Competitive

    Grant amount: \100000

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  • Control of accumulated sediment shape by wheel loader

    2013.4 - 2015.3

    Ministry of Education, Culture, Sports, Science and Technology (MEXT)  Grants-in-Aid for Scientific Research  Grants-in-Aid for Scientific Research (C) 

    Hisashi Osumi

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \4030000 ( Direct Cost: \3100000 、 Indirect Cost: \930000 )

    A method of making desired rock sediment shapes on a truck bed ins developed by designing target motion trajectories of the bucket of a wheel loader. As a first step the behavior of rocks in the bucket of a wheel loader during the tilting motion of the bucket was observed by a video camera. From the obtained image, it was revealed that the rocks on the slope collapse at intervals, and two values of repose angle exist. From the result, physical mechanism of forming the slope angles in the bucket is analyzed. On the other hand, the behavior of fallen rocks on the ground is simulated by using column element model and the stable shape of the rock pile is obtained. By combining the rock behaviors in the bucket and the column element model, an algorithm for designing the bucket motion to make desired rock sediment shapes I proposed, and its effectiveness is verified by fundamental experiments .

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  • Fast Walk Design for Trot Gait of Quadruped Robots

    2009.4 - 2012.3

    Ministry of Education, Culture, Sports, Science and Technology (MEXT)  Grants-in-Aid for Scientific Research  Grants-in-Aid for Scientific Research (C) 

    Hisashi Osumi

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \4810000 ( Direct Cost: \3700000 、 Indirect Cost: \1110000 )

    The fastest trot walk for quadruped robots controlled by DC servo motors is derived as a time trajectory of the gravity center of the body assuming that the desired path is a horizontal line and the orientation of the body is constant during the walk. In addition, a way of deriving time optimal trajectories between two different velocities is proposed. By using the above results, the fastest walk between two resting states is obtained.

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  • 空間移動マニピュレータの開発研究

    2010.3 - 2012.2

    財団法人メカトロニクス技術高度化財団  奨学寄付金 

    大隅 久

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \1200000

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  • 等価伝達関数を用いたリライアブル制御に関する研究

    2008.4 - 2009.3

    本学研究所からの研究費 

    大隅 久

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \1220000

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  • Teleoperation for Wire Suspension Systems by Using Two Step Servo

    2006.4 - 2009.3

    Ministry of Education, Culture, Sports, Science and Technology (MEXT)  Grants-in-Aid for Scientific Research  Grants-in-Aid for Scientific Research (C) 

    Hisashi Osumi

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \3360000 ( Direct Cost: \3000000 、 Indirect Cost: \360000 )

    We developed a teleoperation system for a crane that can move freely in the horizontal plane. By introducing a coarse motion system and a fine motion system respectively in the two-dimensional direction in the horizontal plane, the wire angles in the two directions in horizontal plane are measured by two CCD cameras and fed back to the fine movement system to reduce the swing motion of the suspended object. Furthermore, by introducing a feedforward term and developing an interface that allows the operator to operate the crane intuitively, positioning that does not cause overshoot at the target point is made possible.

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  • 四脚ロボットの高速歩行に関する研究

    2007.4 - 2008.3

    本学研究所からの研究費 

    大隅 久

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount: \1400000

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  • Time Optimal Control for Quadruped Robots

    2006.4 - 2007.3

    本学研究所からの研究費 

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    Grant type:Competitive

    Grant amount: \1400000

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  • 感性ロボティックス環境による共生的生活空間の創造

    2005.4 - 2007.3

    中央大学  中央大学共同研究費他 

    木下源一郎

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    Grant type:Competitive

    Grant amount: \7000000

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究

    Grant number:09221223  1997    

    日本学術振興会  科学研究費助成事業  重点領域研究  中央大学

    木下 源一郎, 梅田 和昇, 大隅 久, 坂根 茂幸

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    Grant amount: \2900000 ( Direct Cost: \2900000 )

    人手による把握,操作行動に伴う皮膚感覚(触覚)機能に注目し,それを人工的に実現する分布形触覚センサを有するハンドを試作して,その諸特性を取得した.また視覚センサから取得されたイメージと触覚センサの触像イメージをアスペクトの観点より統融合化を行う研究を実施し,下記のような成果を得ることができた.
    (1)分布形触覚センサを配置した平行2本指ハンドを試作し,その基本特性を取得した.とくに,センサのコンプライアンス特性が得られ,センサに加わる圧力分布ならびにセンサ表面の変位量を取得できる特徴を有している.この特性を利用して把持物体への外力推定実験を行い,触覚像を用いた物体の組み付け作業に応用が可能となった.
    (2)視覚センサが取得可能な物体の見え方(アスペクト)とハンドが物体を把持し,その接触像として取得可能な触り方(触像アスペクト)を測地ドームの上に表現し,両アスペクトの幾何学的な関係を与える手法を開発した.
    (3)測地ドーム上にアスペクト並びに触像アスペクトを表現し,視触覚センサの統融合化手法を与えた.物体の視覚像より,物体とカメラの幾何学的な関係を取得できるので,その座標系において,ハンドの姿勢より,把持物体の触覚像の推定が可能となった.
    (4)注目する物体に対し,視覚センサより取得される視覚像と触覚センサによる触覚像の両者を用い,物体の形状パラメータを同定する手法とその実験結果を与え,その有効性について示した.
    本研究成果より,人間と機械のより親和性の高い接触行動に基づいた情報の授受を発現するシステムの開発が可能となり,多くの応用が期待される.

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  • アスペクト情報に基づく感覚行動と操作行動による物体の理解

    Grant number:08235221  1996    

    日本学術振興会  科学研究費助成事業  重点領域研究  中央大学

    木下 源一郎, 梅田 和昇, 大隅 久

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    Grant amount: \2500000 ( Direct Cost: \2500000 )

    本研究では,触覚センサを搭載した平行2本指ハンドを用い,その感覚・操作行動とアスペクト情報に基づいた把持物体と対象物体間の相対的幾何構造の解明ならびに操作行動に伴って両者間に生成される機械力学的諸関係を明らかにすることである.
    本研究では昨年度より最も基本的な物体把持を可能にする2本指ハンドに対象を絞り,その基本的把持特性の導出を計るために,指に搭載可能な触覚センサの開発を行って,その諸特性の実験を行った.その実験結果として,下記のような結果を取得した.
    (1)2本指ハンドの触覚センサとして,指のセンシング表面(把持面)は55x30mmであり,そのセンシング可能範囲は,32x22mmである.また,触覚像は17x11のアレイで表現される.
    (2)触覚センサは上記仕様で高コンプライアンス形特性を導入し,その諸特性を実験的に取得した.とくに,物体把持状態の識別を可能にし,変位-圧力特性を導入することで,物体把持時における指間の物体位置評価,把持力評価が可能になった.
    (3)把持物体に付加される外力の推定が可能になり,組立作業などに見られる組み付け作業のセンシングに応用可能である.これは従来力覚センサによって実施されてきたが,本方式で同様のセンシングが触覚センサで可能になることを示した.
    つぎに,この触覚センサに視覚センサを付け加え,視触覚センシングとしてセンサフュージョンの理論構築と触覚サーボへの検討を行った.

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  • アスペクト情報に基づくセンシングと操作の統合による物体の理解

    Grant number:07245219  1995    

    日本学術振興会  科学研究費助成事業  重点領域研究  中央大学

    木下 源一郎, 梅田 和昇, 大隅 久

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    Grant amount: \2700000 ( Direct Cost: \2700000 )

    ロボットのハンド・指による物体操作過程において,3次元的な物体にはその位置・姿勢が存在するので,物体への視線や操作方向の変化は,視覚,触覚センサより取得される視覚像(画像)ならびに触覚像が変化する.これらの像は物体の「様相」を表現するもので,両者の統合化は新たな物体の表現,識別機能を与える.
    そこで,本研究では指の触覚センサを用いた触覚センシングの側面よりこの問題を考えて,平行2本指ハンドのある操作方向より物体把握を行って取得される触覚像について注目を行った.特に,平行2本指ハンドによって物体を把持して触覚像を取得し,物体の形状ならびに把持状態の検出と把持物体に作用する外力の大きさ,作用点の識別手法を確立した.
    触覚像は指の表面上に2次元配列として構成された触覚センサの各センサ要素によって取得されるので,センサ表面と垂直な力成分そしてセンサ表面上の2本の座標軸回りのモーメント成分からなる合計3軸成分が計測可能であることを示した.また,この3軸成分の符号と把持物体の幾何情報を用いたハンドの動作によって,外力の力成分と作用点位置の6軸成分を把持物体が直方体となるとき,これを一意に決定するロボット動作生成アルゴリズムを提案した.
    本手法は従来力覚センサを用いて行われる検出を触覚センサによって同様のことが可能となり,触覚センサの新たな機能が展開されるものと考えられる.

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  • ワイヤ懸垂型ロボットの開発

    Grant number:05750235  1993    

    日本学術振興会  科学研究費助成事業  奨励研究(A)  東京大学

    大隅 久

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    Grant amount: \900000 ( Direct Cost: \900000 )

    可動空間が広く汎用性の高い新型機構としてクレーンのワイヤ下端に平面内3リンクマニピュレータを懸垂したロボットを構成し、その機構特性、制御法を確立した。本ロボットではマニピュレータベースがワイヤに連結されており、宇宙ロボットのようにマニピュレータの各関節を動かすとベース自身も傾くため、運動学自体が複雑となる。
    本研究では、ワイヤ支点の鉛直軸に対する傾き角と、マニピュレータベースとワイヤの成す角をそれぞれ受動関節角としてモデル化し、次に受動関節の動作を能動関節の動作により表現することにより、宇宙マニピュレータの拡張ヤコビ行列に対応したヤコビ行列を求めた。マニピュレータ手先の可動領域は、リンクの長さ、質量バランスに大きく影響されるため、上で求めたヤコビ行列を用いた解析を行い、その結果マニピュレータのリンク長、ベースリンクのワイヤ取り付け点とベース重心間の距離が長いこと、ベース質量が大きいこと等が可動領域を大きくするために必要であることを明らかにした。
    制御法に関しては、マニピュレータの動力学を求め、これを受動関節の運動、マニピュレータ関節の運動に分離し、受動関節の運動を拘束運動と見なすことにより、受動関節を持つマニピュレータの動力学方程式を求めた。軌道制御アルゴリズムの構築に当っては、軌道制御と振動制御の2つのフェーズに分離し、軌道制御においては非線形フィードバックにより線形化し、PID制御系を構成することで実現した。振動制御においては釣合点近傍において系を線形近似し、これに対して最適レギュレータを構成した。シミュレーション、DDモータを利用した制御実験の結果より、上記制御アルゴリズムが有効に作用することを検証した。

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  • ロボットの腕と手の協調制御

    Grant number:04750189  1992    

    日本学術振興会  科学研究費助成事業  奨励研究(A)  東京大学

    大隅 久

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    Grant amount: \900000 ( Direct Cost: \900000 )

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  • クレーンとロボットの協調による重量物組立の自動化

    Grant number:03750160  1991    

    日本学術振興会  科学研究費助成事業  奨励研究(A)  東京大学

    大隅 久

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    Grant amount: \900000 ( Direct Cost: \900000 )

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  • 弾性アームと剛体アームの協調制御

    Grant number:01750205  1989    

    日本学術振興会  科学研究費助成事業  奨励研究(A)  東京大学

    大隅 久

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    Grant amount: \800000 ( Direct Cost: \800000 )

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Intellectual property rights

  • 振れ角検出装置,振れ角検出プログラム,記録媒体及び二次元ワイヤ懸垂装置

    井深丹

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    Application no:特願2005-164136  Date applied:2005.6.3

    Announcement no:特開2006-337253  Date announced:2006.12.14

    Registration no:特許第4982630号  Date registered:2012.5.11 

    Applicant (Organization):学校法人中央大学

  • Method for Analyzing Nonlinear Restoring Force Characteristic with Hysteresis of Machine Structure System

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    Application no:(US)10/110740  Date applied:2001.1.22

    Registration no:(US) 6574570  Date registered:2003.6.3 

Committee Memberships

  • 2023.4 - Now

    日本ロボット学会   建設ロボット委員会 委員長  

  • 2021.3 - Now

    日本ロボット学会   複雑高精度機械の組立技術研究専門委員会 委員長  

  • 2021.3 - Now

    日本時計学会   会長  

  • 2017.4 - Now

    建設ロボット研究連絡協議会   副会長  

  • 2017.4 - Now

    日本時計協会   監事  

  • 2014.4 - Now

    日本原子力学会   福島第一原子力発電所廃炉検討委員会 委員  

  • 2022.10 - 2023.9

    建設ロボット研究連絡協議会   第21回建設ロボットシンポジウム実行委員長  

  • 2022.6 - 2022.12

    New Energy and Industrial Technology Development Organization   Research Evaluation Committee  

  • 2021.12 - 2022.3

    製造科学技術センター   産業用ロボット関連技術の標準化等調査委員会  

  • 2021.4 - 2022.3

    製造科学技術センター   機械システム振興協会令和 3 年度戦略策定事業「人間・ロボット間の相互作用を伴う「合業」に関する戦略策定」戦略策定委員会  

  • 2019.10 - 2020.12

    The International Association for Automation and Robotics in Construction   Program Committee Chair of the 37th International Symposium on Automation and Robotics in Construction (ISARC)  

  • 2007.4 - 2018.3

    精密工学会   生産自動化専門委員会 委員長  

  • 2015.5 - 2015.12

    The 6th International Conference on Advanced Mechatronics 2015 Program Committee Chair  

  • 2013.12 - 2015.3

    公益社団法人 計測自動制御学会   計測自動制御学会システムインテグレーション部門学術講演会SI2014 実行委員長  

  • 2013.3 - 2015.3

    日本ロボット学会   副会長  

  • 2011 - 2014

    日本機械学会   東日本大震災調査提言分科会 WG2 主査  

  • 2011.3 - 2012.3

    日本機械学会   ロボティクス・メカトロニクス部門長  

  • 2003.4 - 2004.3

    日本ロボット学会,日本機械学会(ロボティクス・メカトロニクス部門), 計測自動制御学会(システムインテグレーション部門)   第9回ロボティクスシンポジア プログラム委員長  

  • 1997.4 - 1997.12

    日本ロボット学会   第15回学術講演会プログラム委員長  

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Social Activities

  • 日本原子力学会廃炉シンポジウム講演

    Role(s): Lecturer

    日本原子力学会  廃炉シンポジウム  2021.6 -  

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    Audience: General, Media

    Type:Seminar, workshop

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  • 独立行政法人新エネルギー・産業技術総合開発機構

    2004.2 - 2004.4

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  • 日本学術会議 メカトロニクス専門委員会

    2001.10 - 2003.3

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Media Coverage

  • <今に花咲き実を結ぶ 後編> ドローンの応用で安定した懸垂を Newspaper, magazine

    月間生産財マーケティング  2021.5

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    Author:Other 

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  • <今に花咲き実を結ぶ 前編> 「遊び」が引き出す制御のゆとり

    月間生産財マーケティング  2021.4

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    Author:Other 

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