Yoshikazu Kanamiya

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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 an integrated motion controller for the Japanese Experimental Module RMS/SFA “macro-mini” manipulator system on the International Space Station. This controller is based on the Reaction Null-Space concept described in previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1].(More)
We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator 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, algorithmic 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)
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)
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)
The self motion of a kinematically redundant robotic limb with single degree of redundancy is analyzed, focusing thereby on the nonlinear self-motion component. The role of this component has been completely ignored in past studies on self motion. It is shown that Jacobian pseudoinverse-based resolution - the usual resolution method for nonlinear(More)
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