Admittance controllers have been widely implemented in physical human/robot interaction (pHRI). The stability criteria and the parameter adaptation methods for admittance control have been well-stu...

Admittance

10.5772/61313.1

Cite

Citations (7)

Improvement in the performance of passive motion support system with wires based on analysis of brake control

Yasuhisa Hirata Keitaro Suzuki Kazuhiro Kosuge

To assist human motion in the fields of rehabilitation and sports training, we propose a passive motion support system consisting of wires with servo brakes and a control method to guide the human hand. However, passive systems sometimes cannot generate enough force to guide the human hand along the desired path because the servo brakes cannot generate a driving force and the system does not have enough brake units to generate the desired force. In this paper, we theoretically consider the feasible braking force region of a passive system with multiple brake units and discuss the number of brake units required to generate the desired force appropriately. We also develop a system based on our analysis of the feasible braking force and conduct path-following experiments. The experimental results illustrate the validity of a passive motion support system consisting of wires with servo brakes.

Servomechanism

10.1109/icra.2011.5980471

Cite

Citations (7)

Coordinated motion control of multiple passive object handling robots based on environment information

Yasuhisa Hirata Yuki Ojima Kazuhiro Kosuge

In this paper, we introduce a passive mobile robot called PRP (Passive Robot Porter), which has passive dynamics with respect to an applied force and its appropriate motion is controlled based on the servo brakes. In this paper, we especially focus on a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. By controlling each passive mobile robot in the decentralized way, we realize collision avoidance function and path following function of the object to improve the maneuverability for the human operator. The proposed algorithms applied to two PRPs actually, and experimental results illustrate the validity of the proposed algorithms.

10.1109/robot.2009.5152612

Cite

Citations (1)

Parts Mating Using Structured Compliance : Numerical Compliance Design Method for Practical Mating Tasks

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2004)

Masayuki Shimizu Kazuhiro Kosuge

10.1299/jsmermd.2004.182_2

Cite

Citations (0)

Special Issue on Selected Papers from ROBOMEC'07 (Part 1)

Journal of Robotics and Mechatronics (2008)

Kazunori Umeda Kazuhiro Kosuge

The Robotics and Mechatronics Conference 2007 (ROBOMEC'07) was held at “ALVE,” Akita, Japan, on May 10-12, 2007, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Chonan of Akita Prefectural University served as general chair and Prof. Kosuge of Tohoku University as program chair. With the possibilities to help and develop solutions for managing quality of life of all people, the conference was organized based on the motto “Robotics and Mechatronics Improving the Quality of Life.” A record-breaking 918 papers were presented and more than 1300 attended the conference. This special issue presents 17 papers from the conference selected from 100 outstanding presentations further narrowed to 46 before final selection for Part 1 (Vol. 20, No. 2). We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

10.20965/jrm.2008.p0199

Cite

Citations (0)

IEEE Transactions on Systems, Man, and Cybernetics publication information

IEEE Transactions on Systems Man and Cybernetics Systems (2020)

Eddie Tunstel Sr Past Andreas Nuernberger Sam Kwong Fei‐Yue Wang

10.1109/tsmc.2020.3000410

Cite

Citations (0)

Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System

Fuyuki Tokuda Ryo Murakami Akira Seino Akinari Kobayashi Mitsuhiro Hayashibe

Fixture

Manipulator (device)

10.36227/techrxiv.24581706.v3

Cite

Citations (0)

Position Control of a Double Inverted Pendulum on an Inclined Rail

Transactions of the Society of Instrument and Control Engineers (1979)

Hiroyuki Kajiwara Kazuhiro Kosuge Katsuhisa Furuta

On the basis of the optimal servo theory, this paper discusses the design of the position control system for a double inverted pendulum on an inclined rail. The controller is implemented by a minicomputer to stabilize the double inverted pendulum and can make its position change according to a specified command suppressing the effect of the constant disturbance caused by inclining the rail. The successful experimental results have been obtained and the effectiveness of the state space approach has been shown in the design of the servo controller for a system with constant disturbances and parameter variations.

Position (finance)

Servomechanism

Minicomputer

Constant (computer programming)

Pendulum

10.9746/sicetr1965.15.873

Cite

Citations (5)

Passive Realization of Power scaling of Telemanipulator with Communication Time Delay.

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C (1998)

Kazuhiro Kosuge T. Itoh Irizou NANIWA Toshio Fukuda

This paper proposes an alternative power-scaling algorithm of a controlled telemanipulator with time delay in the transmission line. In the proposed algorithm the motion and force relation, or the power scale, between the master manipulator and the slave manipulator can be specified freely by using two scaling factors. In this system, a communication part of a telemanipulator, which has the time delay, is stabilized based on the scattering transformation. Besides, in the sense of passivity, the scaling algorithm for realizing the power scaling stably is discussed. Although the power scaling had been considered to violate the passivity condition, in the proposed scaling approach, the total stability of the resultant system is guaranteed for an operator and a passive environment with unknown dynamics in view of passivity. The proposed method is experimentally applied to a telemanipulator and the experimental results illustrate the validity of the system.

Passivity

Realization (probability)

Teleoperation

10.1299/kikaic.64.1780

Cite

Citations (5)