研究者詳細 - 相良　慎一

論文 - 相良　慎一

分割表示146 件中 1 - 20 件目／全件表示 >>

Position control of a 3-link dual-arm underwater robot using model error compensator -Considering the difference in response speed between a vehicle and manipulators-（共著）査読有り国際誌

Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1405 - 1410 2025年01月

Coronal Plane Control of Biped Robots Using Nonlinear Model Predictive Control for Realizing Quasi-Limit Cycle Walking （共著）査読有り国際誌

Yuhi Uchino, Yuta Hanazawa, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1417 - 1422 2025年01月

Force control experiment of a 3-link dual-arm underwater robot with model error compensator （共著）査読有り国際誌

Kensho Osugi, Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 30th and ISBC (Bio Complexity) 10th 1411 - 1416 2025年01月

Design of a Model-Based Impedance Controller for the Manipulator Mounted on an Autonomous Surface Vehicle（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1268 - 1273 2024年01月

Manipulation of a floating object by two underwater robots with arms（共著）査読有り国際誌

Kyoka Takeda, Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1285 - 1289 2024年01月

Resolved acceleration control of 3-link dual-arm underwater robot with model error compensator（共著）査読有り国際誌

Reo Nishio, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 29th, ISBC (Bio Complexity) 9th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 7th 1280 - 1284 2024年01月

Development of a rimless wheel robot with telescopic legs for step adaptability 査読有り国際誌

Hanazawa Y., Uchino Y., Sagara S.

Artificial Life and Robotics 29 ( 2 ) 349 - 357 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we developed a rimless wheel robot with elastic telescopic legs that can overcome steps. Numerical studies have shown that a rimless wheel robot with elastic telescopic legs has high adaptability to steps. However, rimless wheel robots that can walk in environments with steps have not yet been developed. To develop a rimless wheel robot that could overcome the steps, we initially developed a three-dimensional model of the robot through Unity software and simulated its walking on level ground and surfaces with steps. Then, we determined the optimal elasticity of the elastic telescopic legs through numerical simulation and constructed a model with optimized parameters. Finally, we conducted the walking experiments employing the developed robot. The robot can walk on level ground and surfaces with steps.

DOI： 10.1007/s10015-024-00943-w

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85188672862&origin=inward

Energy-efficient limit cycle walking in disturbance based on nonlinear model predictive control (共著) 査読有り国際誌

Hanazawa Y., Nishinami H., Sagara S.

Robotica 42 ( 2 ) 435 - 456 22 pages 2023年11月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we present a novel approach to generate limit cycle walking using nonlinear model predictive control (NMPC). Output-zeroing control is now widely used as a control method to limit cycle walking. This control offers strong feedback to the desired trajectory and the generation of energy-efficient and robust limit cycle walking. However, we observed that this method disables the natural dynamics of the robot, leading to problems regarding energy efficiency during walking. This study demonstrates that the energy consumption of walking using the output-zeroing control increases significantly in a disturbed environment. To overcome this limitation, the proposed approach leverages the robot's dynamics using NMPC to achieve energy-efficient walking even in a disturbed environment. We demonstrate the practicality of the proposed method using two different simulation environments.

DOI： 10.1017/S0263574723001522

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85177215847&origin=inward

Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system （共著）査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 28 ( 4 ) 830 - 849 2023年11月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea operation that requires a contact between the manipulator’s tip (e.g., the hand) and various types of environments, it is desirable that the mechanical impedance of the manipulator is adjusted according to the contact surface. From this point of view, the paper focuses on the design of an impedance control scheme. Several impedance controllers have been developed. Most of them were designed on the assumption that the control capability of the vehicle is the same as that of the manipulator. However, it has been pointed out in the literature that for a real underwater robot, its vehicle control is more challenging than its manipulator control, because the vehicle has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. In view of this fact, we develop an impedance control scheme for the manipulator under the condition that the vehicle is independently controlled by a motion controller with poor performance. Moreover, we provide the results of simulations for comparing an existing controller with the proposed one.

DOI： 10.1007/s10015-023-00896-6

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85171662157&origin=inward

Force control of a floating underwater robot equipped with two 3-link manipulators（共著）査読有り国際誌

Shinichiro Fukuda, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar, Yuichiro Taira

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1134 - 1139 2023年01月

Experimental comparison of UVMS position control method with and without constraints on one hand of a dual-arm robot（共著）査読有り国際誌

Kenta Yamamoto, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1128 - 1133 2023年01月

Attitude measurement for underwater robot using inclinometer considering dynamic characteristics and gyroscope（共著）査読有り国際誌

Yuka Daiguji, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1123 - 1127 2023年01月

Design of a Motion and Force Controller with Impedance Error for an Underwater Vehicle-Manipulator System with a Differently-Controlled Vehicle（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1117 - 1122 2023年01月

3D Walking of Telescopic Legged Rimless Wheel Robot on Floor with Steps（共著）査読有り国際誌

Yuta Hanazawa, Yuhi Uchino, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 28th, ISBC (Bio Complexity) 8th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 6th 1463 - 1468 2023年01月

Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system （共著）査読有り国際誌

Taira Y., Sagara S., Oya M.

Artificial Life and Robotics 27 ( 1 ) 90 - 106 2022年02月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper deals with a motion and force control scheme for underwater robots, each of which is equipped with a manipulator. Several motion and force controllers for this type of underwater robot have been developed. Most of them were designed under the assumption that the control capability of each robot body is the same as that of each manipulator. However, it has been pointed out in the literature that for a real underwater robot, its robot body control is more challenging than its manipulator control, because the robot body has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. Therefore, even if an advanced control law with good performance is implemented in the vehicle controller of each control system, its original control performance may not be achieved. In this paper, we develop a motion and force controller for the manipulator under the condition that the robot body is independently controlled by a motion controller with poor performance. Its features are (1) to be designed in consideration of the dynamics of the robot body including its actuators (i.e., marine thrusters), (2) to ensure the stability properties in the presence of bounded disturbances, and (3) to include a linear force error filter, which can facilitate the stability analysis in comparison with existing nonlinear force error filters. Furthermore, the theoretical results were supported by those obtained in numerical simulations.

DOI： 10.1007/s10015-021-00708-9

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85118385311&origin=inward

Development of Small and Lightweight Rimless Wheel Robot（共著）査読有り国際誌

Yuta Hanazawa, Haruka Nishinami, Shinichi Sagara

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1699 - 1704 2022年01月

Modeling and Control of an Underwater Robotic System Composed of Two Different Types of Autonomous Vehicles（共著）査読有り国際誌

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1460 - 1465 2022年01月

Experimental comparison of position control methods for UVMS using a dual-arm underwater robot (共著) 査読有り国際誌

Yuu Matsuo, Kenta Yamamoto, Yuta Hanazawa, Shinichi Sagara, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1454 - 1459 2022年01月

Impedance control experiments of a dual-arm underwater robot（共著）査読有り国際誌

Ryouma Mizoguchi, Yuta Hanazawa, Shinichi Sagara, Yuichiro Taira, Radzi Ambar

Proceedings of the Joint Symposium of AROB (Artificial Life and Robotics) 27th, ISBC (Bio Complexity) 7th and SWARM (Swarm Behavior and Bio-Inspired Robotics) 5th 1449 - 1453 2022年01月

Walking experiments of small and lightweight rimless wheel robot（共著）査読有り国際誌

Hanazawa Y., Nishinami H., Sagara S.

Artificial Life and Robotics 27 ( 4 ) 706 - 713 2022年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we show how to build and test a novel rimless wheel robot. We investigated rimless wheel robots, which consist of a rimless wheel and a torso. We needed a rimless wheel robot that can be developed quickly and easily and is easy to use for experiment to assess the walking performance of the robots. As a result, we have created a smaller and lighter rimless wheel robot than the robots of previous studies with straightforward construction. We demonstrate some of the most crucial features of the robot’s design. Furthermore, we undertook walking experiments to demonstrate that our robot can walk on level ground and level terrain with a step.

DOI： 10.1007/s10015-022-00784-5

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85137238319&origin=inward

　前のページ- 次のページ　

<相良 慎一>

論文 - 相良 慎一

<相良　慎一>

論文 - 相良　慎一