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 path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is(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)
A new path tracking control method for the Japanese Experiment Module Remote Manipulator System (JEM-RMS) / Small Fine Arm (SFA) " macro-mini " manipula-tor system on the International Space Station is proposed. The method ensures almost reactionless motion within wide areas of workspace. This feature is achieved via continuous inertial damping of the(More)
—In a previous work, we addressed the problem of acceleration-sensor based reaction control of a humanoid robot, in response to an impulsive external force. The robot was responding by two reaction patterns, called " ankle " and " hip " strategies. In this work, we extend our study by tackling the problem of response to a continuously acting external force.(More)