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The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling pinpointed motion support, rehabilitation and training by explicitly specifying the target muscles. In our past research, a control method was proposed for static human motion. And the result of simulation and experiments showed that it is possible to control the force of selected...
Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking...
This paper presents a mathematical representation of a system composed of a rigid link manipulator under PID trajectory-tracking control. The representation describes the system as a two-port network that accepts the external force (including the gravity) and the desired velocity as the inputs and produces the actuator force and a motion-related quantity as the outputs. The input-output causality...
Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot. This paper presents development of a prototype of a planar 3-DOF wheeled motion base consisting of omnidirectional...
In this paper, a descriptor dynamic model for a two-cooperative rigid-flexible link manipulators system which holds a rigid object in a horizontal workspace is derived. When a system of multi manipulators grasps an object, they form a closed chain that its equations consist of some algebraic constraints as well as dynamic equations. These algebraic constraints can cause impulsive behaviors in the...
This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used to detect the force. Bilateral control is used to transmit vivid sensations from the forceps end to the surgeon.
In this paper, we consider leader-based shape coordination for multi-robot systems. It is shown that having knowledge about desired velocity and effective interaction among individuals can help group members to continue the path even after leader failure. Since any collective behavior emerges from interaction among individuals, we propose interactive force to maintain minimum distance among agents...
A new dexterous hand is designed and produced. The shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. Through the study on the single finger control, the master-slave control of the dextrous...
Quadrotors are suitable testbeds for several point to point hover based surveillance and observation tasks. As such, the hover mode is a very important mode of operation for a quadrotor platform. This paper describes the design of a hover mode controller using a backstepping based multi-loop design for a linearized quadrotor dynamics. This controller is then tested using both the linear and a full...
The exploratory visualization of 3D data sets or multiple axis motion control of a monitoring camera mounted on a six-axis robot often require the user to control the viewing orientation and position of a camera view within a 3D space. This paper describes the design of an inertial motion sensing system, which uses only accelerometers to provide interactive 3D control of both orientation and position...
Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated...
In this paper, mobile-hapto with yaw rate control is proposed. Mobile-hapto is a kind of remote control system; velocity of a mobile robot is controlled by a handle robot and, at the same time, reaction force of the mobile robot is transmitted to the handle robot. Conventionally, yaw rate of the mobile robot has not been controlled and the mobile robot is hard to keep their traveling direction on...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, support systems using a robot are needed for future medical care. The position controller and velocity controller are used in order to operate the human support system. However, these controllers cannot consider complicate and natural human motion. This paper proposes a method of human support system using motion-copying...
This paper demonstrates the feasibility of controlling motion and vibration of a class of flexible systems with inaccessible or unknown outputs through measurements taken from their actuators which are used as single platforms for measurements, whereas flexible dynamical systems are kept free from any attached sensors. Based on the action reaction law of dynamics, the well-known disturbance observer...
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force...
Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and...
This paper proposes a new smooth touch control for operating industrial robots in unknown environments. The touch control is an useful strategy for the smooth switching from the position control to the force control. Many applications require flexibility to the environments. For example, direct teaching by using a manual control is one of the typical applications. A highperformance force control method...
Research objective is motion control of a humanoid robot limb with considerations of characteristics of biological subjects. There are some differences between biological subjects and conventional humanoid robots from the point of its mechanisms and control method. From the point of mechanism, biological subjects have two joints simultaneous drive, which is called bi-articular simultaneous drive....
This paper describes a flexible squirm pipe robot with magnetic wheels for inspecting the inner casing of pipes with complex shaped structures. Due to the special design of its transmission system and mobile mechanism, the peristaltic motion and self-steering in pipe can be realized. The robot can adapt to the pipeline with different diameters by changing its supporting mechanism automatically. All...
A new force control algorithm was proposed for parallel system. Through the analysis of the kinematics theory of multi-axis motion controller, a force control algorithm was put forward based on kinematics. Then a procedure of 2D parallel system as example was given. The result shows it is easy to realize and modify.
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