ロボット制御研究チーム

介護支援ロボットの開発において、移乗などの力作業を支援することに焦点を当て、人とロボットの接触動作の表現と制御、安定な移乗を実現するための機構と制御の同時最適化、新しい機能材料を用いた制御系設計等、ロバストでフレキシブルな制御系の構築に関して基礎研究および応用研究を行います。

研究分野

工学 / 数学 / 学際研究

研究テーマ

• 安心・快適な移乗動作を実現する機構とフィードバック制御
• 被介護者の感性フィードバックによる快適性の向上
• 安全と信頼性を高める通信ネットワーク
• 複数アクチュエータの協調とDynamics(慣性力)を利用した制御
• 立ち上がり、歩行の補助のためのセンサ統合インピーダンス制御

主要論文

1. T.Mukai, S.Hirano, H.Nakashima, M.Yoshida, S.Guo and Y.Hayakawa
   Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object (in Japanese)
   Transaction of the Japan Society of Mechanical Engineers Series C, Vol.77, No.782, pp.3794-3807, 2011
2. Z.Zyada, Y.Hayakawa, and S.Hosoe
   Fuzzy nonprehensible manipulation control of a two-rigid-link object by two cooperative arms
   Preprints of the 18th IFAC World Congress, pp.14614-14621, 2011
3. A.Nakashima, and Y.Hayakawa
   Stability analysis of multi-fingered grasp under destabilizing gravity effect
   Preprints of the 18th IFAC World Congress, pp.14667-14674, 2011
4. T.Mukai, S.Hirano, H.Nakashima, Y.Sakaida, and S.Guo
   Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
   Journal of Robotics and Mechatronics, Vol.23, No.3, pp.360-369, 2011
5. M.Yoshida, S.Arimoto, K.Tahara and H.Sugiyama
   Modeling and Control of a Pair of Robot Fingers with Soft Tips and Orderless Saddle-joint Actuators (in Japanese)
   Journal of the Robotics Society of Japan, Vol.29, No.10, pp.943-953, 2011
6. S.Arimoto and M.Yoshida
   A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces
   Modelling and Simulation in Engineering, Vol.2011, Article ID 684034, 2011
7. K.Tahara, S.Arimoto and M.Yoshida
   Externally Sensorless Position and Attitude Control of a Grasped Object Using a Virtual Frame by a Triple Soft-Fingered Hand (in Japanese)
   Journal of the Robotics Society of Japan, Vol.29, No.1, pp.89-98, 2011
8. F.Zhao, C.Jiang and H.Sawada
   A novel Braille display using the vibration of SMA wires and the evaluation of Braille presentations
   Journal of Biomechanical Science and Engineering Vol.7 4 pp416-432 2012
9. C.Jiang,M.Deng and Y.Hayakawa
   Operator-based parallel compensation control for hysteresis using ELM-based stop-type PI model
   Proceedings of 2012 IEEE International Conference on Mechatronics and Automation pp2054-2058, 2012
10. C.Jiang and M.Deng
    ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization
    Proceedings of the 2012 International Conference on Advanced Mechatronic Systems pp1-5, 2012