Ryuta Ozawa

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In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like manipulators and multi-fingered hands. Associated with such DOF redundancy relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index(More)
—A robot designed to mimic a human becomes kinematically redundant, i.e. its total degrees of freedom becomes larger than the number of physical variables required for description of a given task. Kinematic redundancy may contribute to enhancement of dexterity and versatility, but incurs a problem of ill-posedness of inverse kinematics from the(More)
— This paper presents an image-based visual servo-ing for controlling the position and orientation of a quadrotor using a fixed downward camera observing landmarks on the level ground. In the proposed method, the negative feedback to the image moments is used to control the vertical motion and rotation around the roll axis. On the other hand, the negative(More)
—This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile(More)