Tatsuo Narikiyo

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This paper proposes different parameterized linear matrix inequality (PLMI) characterizations for fuzzy control systems. These PLMI characterizations are, in turn, relaxed into pure LMI programs, which provides tractable and effective techniques for the design of suboptimal fuzzy control systems. The advantages of the proposed methods over earlier ones are(More)
In this brief, a new adaptive control framework to compensate for uncertain nonlinear parameters in robot manipulators is developed. The designed adaptive controllers possess a linear parameter structure, guarantee global boundedness of the closed-loop system as well as tracking of a given trajectory within any prescribed accuracy. Our design approach takes(More)
A new fuzzy modeling based on fuzzy linear fractional transformations model is introduced. This new representation is shown to be a flexible tool for handling complicated nonlinear models. Particularly, the new fuzzy model provides an efficient and tractable way to handle the output feedback parallel distributed compensation problem. We demonstrate that(More)
This paper presents a wearable upper body exoskeleton system with a model based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus target rehabilitation tasks(More)
This paper presents a new scheduling method for manufacturing system based on the Timed Petri Net model and a reactive fast graph search algorithm. The following two typical problems are addressed in this paper. (1) Minimization of the maximum completion time. (2) Minimization of the total tardiness. As for the problem (1), a new search algorithm which(More)
This paper is authored to describe a control framework that is designated for realizing cyclic, actively-compliant and dynamically-balanced jumping and trotting quadruped locomotion over rough terrain. In order to succeed in exhibiting such locomotion abilities, two controllers are synthesized: i) Active Compliance Control via force feedback, ii) Angular(More)
This paper is aimed at presenting a framework that consists of a pattern generator and a controller, which are combined together to realize continuous and dynamically equilibrated running motion on a 4-link 3-DoF one-legged robot with no passively compliant elements. Initially, we make use of a pattern generator to synthesize dynamically-consistent running(More)
This paper introduces a position-based compliance control algorithm that can be implemented in a lower extremity exoskeleton-supported paraplegia walking task, in which upper body has to be utilized to maintain the overall balance. In order to reduce the upper body effort required during the task, the controller is designated to be capable of managing the(More)