Yoshikazu Kanamiya

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previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1]. Here, we show how to implement the controller for the JEMRMS/SFA system and examine its performance via simulations. Results show that end-effector path tracking combined with reactionless motion and vibration suppression can be achieved in a(More)
— A method for implementing the ankle and hip balance control strategies, well known from studies on human balance control, is suggested. The moment of the acting disturbance force is evaluated continuously in real time via the difference between the ZMP and the ground projection of the center of mass. Compliant response to the continuous disturbance is(More)
We propose a method for motion control of a redundant manipulator on a flexible base. Manipula-tor selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, al-gorithmic singularities associated with the additional(More)
— A humanoid robot should be able to keep balance in the presence of various disturbances. We address here a class of disturbances that are due to an unstable ground, when conventional methods of control, e.g. ZMP based ones, are not applicable. The equation of motion has the form of an underactuated system, such as that of a free-flying robot or of a(More)
—The paper proposes an open-source platform for developing kinematic and dynamic models, simulation and control design of robots, based on MaTX [1]. We show that the developed programs can be easily transfered for direct execution in real-time, making use of improvements in the recent Linux kernel toward hard real-time capability. We show that, in(More)
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