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Analysis of safe manual control by using Furuta pendulum
TLDR
This paper focuses on the interaction of manual and automatic control in a demanding task where the process is unstable and has actuator limitation. Expand
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Time Optimal Swing-Up Control of Single Pendulum
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Swing-up and balancing control of acrobot
This paper proposes two kinds of control strategy for swinging-up and keeping a two-link acrobot at the upright position. One is based on energy control, and the other is based on a linear feedbackExpand
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A novel approach to gait synchronization and transition for reconfigurable walking platforms
TLDR
In this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. Expand
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Analysis of Human Operation Utilizing Closed-loop Identification Method
TLDR
The trial on the closed-loop identification of human operation and dexterity is presented in this paper. Expand
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On a Jansen leg with multiple gait patterns for reconfigurable walking platforms
Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits whichExpand
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Stabilization control for inverted pendulum simulating behavior of circling bicycle
TLDR
In this paper, a simple inverted pendulum model is introduced to simulate the behavior of the bicycle, and a stabilizing control is designed based on the simple model. Expand
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Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
TLDR
The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. Expand
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Speed Control of Jansen Linkage Mechanism for Exquisite Tasks
This paper reports a toe speed control approach to achieving complex gaits with the Jansen linkage mechanism. In order to achieve complex gaits, delicate control of the toe is required. Since, theExpand
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A Consideration of nonlinear system modeling using the projection method
This paper considers modeling of nonlinear systems, especially nonholonomic systems, by the projection method proposed by W. Blajer. The projection method focuses on constraints of a system, and itExpand
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