2025/02/27 更新

写真a

ヤマキタ　マサキ
山北　昌毅
YAMAKITA MASAKI
所属
工学院 准教授
職名
准教授
外部リンク

学位

  • 工学博士 （ 東京工業大学 ）

研究分野

  • ものづくり技術（機械・電気電子・化学工学） / 制御、システム工学

学歴

  • 東京工業大学   理工学研究科   制御工学

    - 1989年

    　 詳細を見る

    国名： 日本国

    researchmap

  • 東京工業大学

    - 1989年

    　 詳細を見る

  • 東京工業大学   工学部   制御工学科

    - 1984年

    　 詳細を見る

    国名： 日本国

    researchmap

経歴

所属学協会

書籍等出版物

  • Electroactive Polymers in Robotic Applications: Artificial Muscles and Sensors, Chap 8

    Springer  2007年 

    　詳細を見る

  • Electroactive Polymers in Robotic Applications: Artificial Muscles and Sensors, Chap 8

    Springer  2007年 

    　詳細を見る

  • Torward Robust State Transfer Control of TITech Double Pendulum

    The Astrom Symposium on Control  1999年 

    　詳細を見る

  • Torward Robust State Transfer Control of TITech Double Pendulum

    1999年 

    　詳細を見る

  • Torward Robust State Transfer Control of TITech Double Pendulum

    The Astrom Symposium on Control  1999年 

    　詳細を見る

  • Tracking Control by Learning and Its Application to Semiconductor Diffusion Furnace Temperature Control

    In Telligent Control Systems  1996年 

    　詳細を見る

  • A study on Model Reference Variable Control with Adaptive Sliding Surface

    Proc. of CDC'96  1996年 

    　詳細を見る

  • Tracking Control by Learning and Its Application to Semiconductor Diffusion Furnace Temperature Control

    In Telligent Control Systems  1996年 

    　詳細を見る

  • A study on Model Reference Variable Control with Adaptive Sliding Surface

    Proc. of CDC'96  1996年 

    　詳細を見る

▼全件表示

MISC

  • Controller Design of Acrobatic Turn via Wheelie for a Bicycle with a Balancer

    MASAKI YAMAKITA

    6   2010年

    　詳細を見る

  • Controller Design of Acrobatic Turn via Wheelie for a Bicycle with a Balancer

    MASAKI YAMAKITA

    6   2010年

    　詳細を見る

  • ロボット制御理論概論

    山北昌毅

    日本ロボット学会誌   27 ( 4 )   370 - 374   2009年

    　詳細を見る

    記述言語：日本語   出版者・発行元：The Robotics Society of Japan  

    DOI： 10.7210/jrsj.27.370

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00331929629?from=CiNii

  • 非ガウス雑音を受ける領域拘束付き非線形システムの状態推定

    山北昌毅

    電気学会論文誌 C   129 ( 11 )   2050 - 2056   2009年

    　詳細を見る

  • UFK(Unscented Kalman Filter)とKFはどうちがうの？

    山北昌毅

    システム制御情報学会誌   53 ( 7 )   2009年

    　詳細を見る

  • IDCロボコンを通じた創成活動と国際交流

    山北昌毅

    工学教育   56 ( 3 )   113 - 117   2008年

    　詳細を見る

    記述言語：日本語   出版者・発行元：Japanese Society for Engineering Education  

    DOI： 10.4307/jsee.56.3_113

    CiNii Books

    researchmap

  • Integrated Design of IPMC Actuator/Sensor

    MASAKI YAMAKITA

    ( 7 )   2008年

    　詳細を見る

  • Asymptotically Stable Gait Generation for Compass-like Biped Robot Based on Stability Principle of Rimless Wheel

    MASAKI YAMAKITA

    26 ( 4 )   51 - 62   2008年

    　詳細を見る

  • Creative Activity and International Exchange via IDC Robocon

    MASAKI YAMAKITA

    56 ( 3 )   113 - 117   2008年

    　詳細を見る

  • Integrated Design of IPMC Actuator/Sensor

    MASAKI YAMAKITA

    ( 7 )   2008年

    　詳細を見る

  • Rimless Wheelの安定原理に基づくコンパス型２足ロボットの漸近安定歩容生成

    山北昌毅

    日本ロボット学会誌   26 ( 4 )   351 - 362   2008年

    　詳細を見る

    記述言語：日本語   出版者・発行元：The Robotics Society of Japan  

    We investigated and identified the conditions necessary for asymptotically stable gait generation in compass-like biped robots from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by two constraint conditions: keeping the restored mechanical energy constant and settling the relative hip-joint angle to the desired value just before impact. The generated bipedal gait with these two constraints then becomes asymptotically stable around the equilibrium point, as shown by a simple recurrence formula of the kinetic energy just before impact. We verified this stable gait generation method using numerical simulation of virtual passive dynamic walking. The result were compared with those for a rimless wheel and an inherent stability principle was derived. Furthermore, we derived a robust control law using a reference mechanical energy trajectory and demonstrated its effectiveness numerically. Finally, we discuss sufficient conditions for the gait stability in more general cases using an index function.

    DOI： 10.7210/jrsj.26.351

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00314265096?from=CiNii

  • Doping effects on robotic systems with ionic polymer-metal composite actuators

    Norihiro Kamamichi, Masaki Yamakita, Takahiro Kozuki, Kinji Asaka, Zhi-Wei Luo

    ADVANCED ROBOTICS   21 ( 1-2 )   65 - 85   2007年

    　詳細を見る

    記述言語：英語   出版者・発行元：TAYLOR & FRANCIS LTD  

    Ionic polymer-metal composite (IPMC) materials are one of the most promising electroactive polymer actuators for applications, and have good properties of response and durability. The characteristics of IPMC materials depend on the type of counter-ion. When applied to mechanical systems such as a robot, there exist possibilities to change the properties of the system dynamics by changing the counter-ions and system parameters according to the environment or purpose. We focus on this 'doping effect' property of the system and will verify the effect on robotic applications. In this paper, we consider dynamic walking of a small-sized biped robot and swimming motion of a snake-like robot, and demonstrate the doping effects by numerical simulations and experiments.

    Web of Science

    researchmap

  • UKFって何？

    山北 武者

    システム制御情報学会   50 ( 6 )   2006年

    　詳細を見る

  • Biped gait generation and control based on a unified property of passive dynamic walking

    F Asano, ZW Luo, M Yamakita

    IEEE TRANSACTIONS ON ROBOTICS   21 ( 4 )   754 - 762   2005年8月

    　詳細を見る

    記述言語：英語   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    Principal mechanisms of passive dynamic walking are studied from the mechanical energy point of view, and novel gait generation and control methods based on passive dynamic walking are proposed. First, a unified property of passive dynamic walking is derived, which shows that the walking system's mechanical energy increases proportionally with respect to the position of the system's center of mass. This yields an interesting indeterminate equation that determines the relation between the system's control torques and its center of mass. By solving this indeterminate equation for the control torque, active dynamic walking on a level can then be realized. In addition, the applications to the robust energy referenced control are discussed. The effectiveness and control performances of the proposed methods have been investigated through numerical simulations.

    DOI： 10.1109/TRO.2005.847610

    Web of Science

    researchmap

  • 力学的エネルギー回復に基づく動的歩容生成と制御, 日本ロボット学会誌

    浅野 羅 山北

    日本ロボット学会論文誌   23 ( 7 )   821 - 830   2005年

    　詳細を見る

    記述言語：日本語   出版者・発行元：The Robotics Society of Japan  

    Dynamic gait generation of legged robots can considered as a problem to generate limit cycles in a phase space from the mathematical point of view. One of the basic necessary conditions of dynamic walking is to restore the mechanical energy that is dissipated by an impact between the swing leg and the floor at the transition instant. Energy-effective dynamic gait generation then yields the problem on how to restore the mechanical energy effectively during the swing phase. This paper first unifies the gait generation methods proposed so far by introducing a variable virtual gravity concept and two solution formulas. Taking up the energy tracking control and virtual passive dynamic walking as two typical methods, the paper analyzes the control performances from the view of points of energy efficiency and robust stability through numerical simulations. The obtained results are evaluated based on some criterion, and the conditions for maximum efficiency are theoretically clarified. Throughout this paper, we aim to clarify mathematical principle of energy-effective dynamic walking.

    DOI： 10.7210/jrsj.23.821

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00259243807?from=CiNii

  • 拘束を考慮した人型ロボットの着地制御

    貞弘 山北

    シミュレーション学会論文誌   24 ( 2 )   143 - 150   2005年

    　詳細を見る

  • 高階ストークス・ディラック構造, 計測自動制御学会論文誌

    西田 山北

    計測自動制御学会論文誌   41 ( 7 )   2005年

    　詳細を見る

  • 無限次元ポートハミルトニアン系の外乱構造分解

    西田 山北

    計測自動制御学会   41 ( 10 )   2005年

    　詳細を見る

  • A novel gait generation for biped walking robots based on mechanical energy constraint

    F Asano, M Yamakita, N Kamamichi, ZW Luo

    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION   20 ( 3 )   565 - 573   2004年6月

    　詳細を見る

    記述言語：英語   出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    This paper proposes novel energy-based gait generation and control methods for biped robots based on an analysis of passive dynamic walking. First, we discuss the essence of dynamic walking using a passive walker on a gentle slope from the mechanical energy point of view. Second, we propose a simple and effective gait-generation method, which imitates the energy behavior in every walking cycle considering the zero-moment point condition and other factors of the active walker. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. Following the proposed method, the robot can exhibit a natural and reasonable walk on a level ground without any gait planning and design in advance. The effectiveness of the method is examined through numerical simulations and experiments.

    DOI： 10.1109/TRA.2004.824685

    Web of Science

    researchmap

  • ３次元ヘビロボットの推進制御と先頭位置姿勢制御

    山北 山田

    日本ロボット学会論文誌   1 ( 22 )   61 - 67   2004年

    　詳細を見る

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    F.Asano Z.Luo, M.Yamakita, K.Tahara, S.Hosoe

    Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics   2004年

    　詳細を見る

  • Unification of Dynamic Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    F.Asano Z.Luo, M.Yamakita

    Proc. of IROS04   2004年

    　詳細を見る

  • Development of an artificial muscle linear actuator using ionic polymer-metal composites

    Masaki Yamakita, Norihiro Kamamichi, Yasuaki Kaneda, Kinji Asaka, Zhi-Wei Luo

    Advanced Robotics   18 ( 4 )   383 - 399   2004年

    　詳細を見る

    記述言語：英語  

    We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC) - electro-active polymers that bend in response to electric stimuli - and the goal of our study is applying the actuator to robotic applications, especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, basic experiments and position control of the linear actuator are demonstrated. Then, we consider walking control of a small-sized biped walking robot. In the application we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot, and that they are stretched and compressed enough. It is shown throughout simulations that the biped walking robot with the actuators can walk on level ground with a period synchronized with the period of the input signal.

    DOI： 10.1163/156855304773822473

    Scopus

    researchmap

  • Bio-Mimetic Control for Whole Arm Cooperative Manipulation

    F.Asano Z.Luo, M.Yamakita, K.Tahara, S.Hosoe

    Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics   2004年

    　詳細を見る

  • Unification of Dynamic Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis

    F.Asano Z.Luo, M.Yamakita

    Proc. of IROS04   2004年

    　詳細を見る

  • Modeling and Control for Whole Arm Dynamic Cooperative Manipulation

    F.Asano Z.Luo, S.Hosoe, M.Yamakita

    Proc. of IROS04   2004年

    　詳細を見る

  • Structure Decomposition for Disturbed Distributed-Parameter Port-Hamiltonian Systems

    G.Nishida M.Yamakita

    Proc. of CDC 2004   2004年

    　詳細を見る

  • Formation Control of SMC with Multiple Coordinate Systems

    M.Yamakita, T.Sito

    Proc. of IROS04   2004年

    　詳細を見る

  • IPMC LINEAR ACTUATOR WITH RE-DOPING CAPABILITY AND ITS APPLICATION TO BIPED WALKING ROBOT

    M.Yamakita, N.Kamamichi, Y.Kaneda, K.Asaka Z.Luo

    Proc. of 3rd IFAC Symp. on Mechatornics Systems   2004年

    　詳細を見る

  • Adaptive Desired Velocity Field Control for Cooperative Mobile Robots wiht Decentralized PVFC

    J.H.Suh, M.Yamakita, S.B.Kim

    JSME Int. Journal, Series C   47 ( 1 )   280 - 288   2004年

    　詳細を見る

  • Development of Collision-Free Formation Control for UAVs based on Switching Scheme

    J.Jongusuk, T.Mita, M.Yamakita

    Trans. of ISCIE   17 ( 1 )   26 - 38   2004年

    　詳細を見る

    記述言語：英語   出版者・発行元：一般社団法人 システム制御情報学会  

    In this paper, we develop two controllers to control simplified dynamic models of three unmanned aerial vehicles (UAVs) in formation. The formation control scheme is constructed in a hybrid system fashion, i.e., switching between two stable systems with state-dependent (collision-detection based) switching logic. Main Formation Controller (MFC) is designed based on Lyapunov direct method and integrator backstepping techniques playing the role of formation hold between two UAVs. Collision Avoidance Controller (CAC) gives benefit to the short range collision avoidance using polar coordinate instead of traditional relative model to capture motions between two UAVs. The proposed collision avoidance control uses the sliding mode control with better choices of sliding surfaces to effectively establish the desired collision avoidance behavior. Fusion of both controllers establishes stability and convergence to the reference formation by means of switching control. The numerical simulation results prove the validity of the proposed control scheme.

    DOI： 10.5687/iscie.17.26

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00384762440?from=CiNii

  • A Higher Order Stokes-Dirac Structure for Distributed-Parameter Hamiltonian Systems

    G.Nishida M.Yamakita

    Proc. of ACC2004   2004年

    　詳細を見る

  • Modeling and Control for Whole Arm Dynamic Cooperative Manipulation

    F.Asano Z.Luo, S.Hosoe, M.Yamakita

    Proc. of IROS04   2004年

    　詳細を見る

  • Comparative Study of Simultaneous Parameter-State Estimations

    M.Yamakita, Y.Musha G.Kinoshita

    Proc. of CCA 2004   2004年

    　詳細を見る

  • Some Extensions of Passive Walking Formula to Active Biped Robot

    F.Asano Z.Luo, M.Yamakita

    Proc. of the IEEE Int. Conf. on Robotics and Automation   2004年

    　詳細を見る

  • A Higher Order Stokes-Dirac Structure for Distributed-Parameter Hamiltonian Systems

    G.Nishida M.Yamakita

    Proc. of ACC2004   2004年

    　詳細を見る

  • Some Extensions of Passive Walking Formula to Active Biped Robots

    F.Asano Z.Luo, M.Yamakita

    Proc. of ICRA 2004   2004年

    　詳細を見る

  • Structure Decomposition for Disturbed Distributed-Parameter Port-Hamiltonian Systems

    G.Nishida M.Yamakita

    Proc. of CDC 2004   2004年

    　詳細を見る

  • Formation Control of SMC with Multiple Coordinate Systems

    M.Yamakita, T.Sito

    Proc. of IROS04   2004年

    　詳細を見る

  • IPMC LINEAR ACTUATOR WITH RE-DOPING CAPABILITY AND ITS APPLICATION TO BIPED WALKING ROBOT

    M.Yamakita, N.Kamamichi, Y.Kaneda, K.Asaka Z.Luo

    Proc. of 3rd IFAC Symp. on Mechatornics Systems   2004年

    　詳細を見る

  • Yet Another Fractal in Pendulum Systems

    M.Yamakita, T.Yonemura

    Proc. of 3rd IFAC Symp. on Mechatornics Systems   2004年

    　詳細を見る

  • 受動歩行を規範とした二足ロボットの歩容生成と制御

    浅野 山北

    日本ロボット学会論文誌   22 ( 1 )   130 - 139   2004年

    　詳細を見る

    記述言語：日本語   出版者・発行元：The Robotics Society of Japan  

    This paper studies basic mechanisms of passive dynamic walking from the mechanical energy point of view, and proposes novel gait generation and control methods based on the passive dynamic walking. Firstly, we show the uniform property of passive dynamic walking that, the walking system's mechanical energy increases proportionally with respect to the position of the system's center of gravity, which results in an interesting indeterminate equation that determines the relation between the system's control torques and its center of gravity. We then show that active dynamic walking on a level can be realized by solving this equation for the control torques. Furthermore, the applications to robust energy referenced control, as well as the extension for controlling a kneed biped system are discussed. The effectiveness of the proposed methods have been investigated through numerical simulations.

    DOI： 10.7210/jrsj.22.130

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00235657116?from=CiNii

  • Some Extensions of Passive Walking Formula to Active Biped Robots

    F.Asano Z.Luo, M.Yamakita

    Proc. of ICRA 2004   2004年

    　詳細を見る

  • Adaptive Desired Velocity Field Control for Cooperative Mobile Robots wiht Decentralized PVFC

    J.H.Suh, M.Yamakita, S.B.Kim

    JSME Int. Journal, Series C   47 ( 1 )   280 - 288   2004年

    　詳細を見る

  • 切り替え型制御による衝突回避を考慮した複数編隊無人飛行機の形成制御

    ジョンユースック ジュラチャート, 美多 勉, 山北 昌毅

    システム制御情報学会論文誌   17 ( 1 )   26 - 38   2004年

    　詳細を見る

    記述言語：英語   出版者・発行元：一般社団法人 システム制御情報学会  

    In this paper, we develop two controllers to control simplified dynamic models of three unmanned aerial vehicles (UAVs) in formation. The formation control scheme is constructed in a hybrid system fashion, i.e., switching between two stable systems with state-dependent (collision-detection based) switching logic. Main Formation Controller (MFC) is designed based on Lyapunov direct method and integrator backstepping techniques playing the role of formation hold between two UAVs. Collision Avoidance Controller (CAC) gives benefit to the short range collision avoidance using polar coordinate instead of traditional relative model to capture motions between two UAVs. The proposed collision avoidance control uses the sliding mode control with better choices of sliding surfaces to effectively establish the desired collision avoidance behavior. Fusion of both controllers establishes stability and convergence to the reference formation by means of switching control. The numerical simulation results prove the validity of the proposed control scheme.

    DOI： 10.5687/iscie.17.26

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00384762440?from=CiNii

  • Development of an artificial muscle linear actuator using ionic polymer-metal composites

    M Yamakita, N Kamamichi, Y Kaneda, K Asaka, ZW Luo

    ADVANCED ROBOTICS   18 ( 4 )   383 - 399   2004年

    　詳細を見る

    記述言語：英語   出版者・発行元：TAYLOR & FRANCIS LTD  

    We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC)-electro-active polymers that bend in response to electric stimuli-and the goal of our study is applying the actuator to robotic applications, especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, basic experiments and position control of the linear actuator are demonstrated. Then, we consider walking control of a small-sized biped walking robot. In the application we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot, and that they are stretched and compressed enough. It is shown throughout simulations that the biped walking robot with the actuators can walk on level ground with a period synchronized with the period of the input signal.

    DOI： 10.1163/156855304773822473

    Web of Science

    researchmap

  • Yet Another Fractal in Pendulum Systems

    M.Yamakita, T.Yonemura

    Proc. of 3rd IFAC Symp. on Mechatornics Systems   2004年

    　詳細を見る

  • Comparative Study of Simultaneous Parameter-State Estimations

    M.Yamakita, Y.Musha G.Kinoshita

    Proc. of CCA 2004   2004年

    　詳細を見る

  • Some Extensions of Passive Walking Formula to Active Biped Robot

    F.Asano Z.Luo, M.Yamakita

    Proc. of the IEEE Int. Conf. on Robotics and Automation   2004年

    　詳細を見る

  • Control of Locomotion and Head Configuration of 3D Snake Robot (SMA)

    M.Yamakita e

    Proc. of ICRA03   2003年

    　詳細を見る

  • Landing Control of Acrobat Robot Satisfying Various Constraints

    T.Sadahiro, M.Yamakita

    Proc. of ICRA03   2003年

    　詳細を見る

  • Analysis of Formation Control of Cooperative Transportation of Mother Ship by SMC

    M.Yamakita e

    Proc. of ICRA03   2003年

    　詳細を見る

  • Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots

    M.Yamakita

    Proc. of SPIE   2003年

    　詳細を見る

  • Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots

    M.Yamakita

    Proc. of SPIE   2003年

    　詳細を見る

  • Dynamic Modeling and Control for Whole Body Manipulation

    F.Asano et

    Proc. of IROS03   2003年

    　詳細を見る

  • Control of Locomotion and Head Configuration of 3D Snake Robot (SMA)

    M.Yamakita e

    Proc. of ICRA03   2003年

    　詳細を見る

  • Motion Control for Rubust Landing of Acrobat Robot (SMB)

    M.Yamakita e

    Proc. of IROS03   2003年

    　詳細を見る

  • Motion Control for Rubust Landing of Acrobat Robot (SMB)

    M.Yamakita e

    Proc. of IROS03   2003年

    　詳細を見る

  • An Unified Formulation and Solution to Gait Generation Problems Based on Passive Dynamic Walking

    F.Asano M.Yamakita e

    Proc. of CLAWAR 2003   2003年

    　詳細を見る

  • Landing Control of Acrobat Robot Satisfying Various Constraints

    T.Sadahiro, M.Yamakita

    Proc. of ICRA03   2003年

    　詳細を見る

  • Analysis of Formation Control of Cooperative Transportation of Mother Ship by SMC

    M.Yamakita e

    Proc. of ICRA03   2003年

    　詳細を見る

  • An Unified Formulation and Solution to Gait Generation Problems Based on Passive Dynamic Walking

    F.Asano M.Yamakita e

    Proc. of CLAWAR 2003   2003年

    　詳細を見る

  • Dynamic Modeling and Control for Whole Body Manipulation

    F.Asano et

    Proc. of IROS03   2003年

    　詳細を見る

  • A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraints

    F.Asano M.Yamakita

    Proc. of IROS'02   2002年

    　詳細を見る

  • A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraints

    F.Asano M.Yamakita

    Proc. of IROS'02   2002年

    　詳細を見る

  • A LQG controller design for linear continuous-time systems based on input-output data

    M.Iwase, M.Yamakita, K.Furuta

    Proc. of IFAC Congress 2002   2002年

    　詳細を見る

  • Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar

    M.Yamakita, T.Yonemura

    Proc. of ICRA02   2002年

    　詳細を見る

  • A Study on Adaptive Desired Velocity Field Generation for Leader-Follower Type Cooperative 3-Wheeled Mobile Robots with Decentralized PVFC

    J.S.Suh, M. Yamakita

    Trans. of ISCIE   15 ( 9 )   459 - 468   2002年

    　詳細を見る

  • A LQG controller design for linear continuous-time systems based on input-output data

    M.Iwase, M.Yamakita, K.Furuta

    Proc. of IFAC Congress 2002   2002年

    　詳細を見る

  • Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar

    M.Yamakita, T.Yonemura

    Proc. of ICRA02   2002年

    　詳細を見る

  • A Study on Adaptive Desired Velocity Field Generation for Leader-Follower Type Cooperative 3-Wheeled Mobile Robots with Decentralized PVFC

    J.S.Suh, M. Yamakita

    Trans. of ISCIE   15 ( 9 )   459 - 468   2002年

    　詳細を見る

  • Virtual Gravity and Coupling Control for Robotic Gait Synthesis

    F. Asano, M.Yamakita

    IEEE Trans. on SMC: Part A   31 ( 6 )   737 - 745   2002年

    　詳細を見る

  • アクロバットロボットの振り上げ倒立制御と特異点問題

    南 美多 山

    日本ロボット学会誌   2 ( 2 )   2002年

    　詳細を見る

  • Virtual gravity and coupling control for robotic gait synthesis

    Fumihiko Asano, Masaki Yamakita

    IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.   31 ( 6 )   737 - 745   2001年11月

    　詳細を見る

    記述言語：英語   掲載種別：速報，短報，研究ノート等（学術雑誌）  

    In our previous works, we have proposed "virtual passive dynamic walking" with virtual gravity for biped robots in order to realize active walking on the level ground without any gait design in advance. In this paper we discuss some control problems of a kneed biped robot and propose "modified compass-like virtual passive dynamic walking" with active knee-lock algorithms in order to avoid "foot scuffing" problem during the single support phase. Furthermore, a virtual coupling control law is proposed which can realize variable walking pattern with respect to the robot's energy levels. By the effect of the control law, the robot which is a hybrid dynamical system can be regarded as a passive system which does not include any collisions, and variable walking pattern can be realized without loss of properties of a virtual passive walk. The validity of the proposed methods has been examined by numerical simulations.

    DOI： 10.1109/3468.983431

    Scopus

    researchmap

  • Periodic Stabilazing Control Considering Collisions- Application to Walking Robots -

    H.Ohata M.Yamakita

    Proc. of IROS'0   2001年

    　詳細を見る

  • Extended Virtual Passive Dynamic Walking and Virtual Passivity-mimicking Control Laws

    F. Asano, M.Hashimoto, N.Kamamichi, M.Yamakita

    Proc. of ICRA'01   2001年

    　詳細を見る

  • 二足歩行における能動膝関節拘束制御と仮想干渉駆動による歩行パターン切替え制御

    浅野 山北

    システム制御情報学会論文誌   14 ( 11 )   545 - 553   2001年

    　詳細を見る

    記述言語：日本語   出版者・発行元：一般社団法人 システム制御情報学会  

    In our previous works, we have proposed "virtual passive dynamic walking" with virtual gravity for biped robots in order to realize active walking on the level ground without any gait design in advance. In this paper we discuss some control problems of a kneed biped robot and propose "modified compass-like virtual passive dynamic walking" with active knee-lock algorithms in order to avoid "foot scuffing" problem during the single support phase. Furthermore, a virtual coupling control law is proposed which can realize variable walking pattern with respect to the robot's energy levels. By the effect of the control law, the robot which is a hybrid dynamical system can be regarded as a passive system which does not include any collisions, and variable walking pattern can be realized without loss of properties of a virtual passive walk. The validity of the proposed methods has been examined by numerical simulations.

    DOI： 10.5687/iscie.14.545

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00384760095?from=CiNii

  • An Adaptive Learning Control and Its Application of Vibration Isolation System

    M. Iwase, M, Yamakita, Y. Maruta, H. Yamazoe

    Asian Journal of Control   2001年

    　詳細を見る

  • Passive to Active Dynamic Walking

    H.Ohta M.Yamakita, K Furuta

    Int. J. Robust Nonlinear Control   11 ( 3 )   287 - 303   2001年

    　詳細を見る

  • Giant swing via forward upward circling of the Acrobat-robot

    Y.Michitsuji, H.Sato, M.Yamakita

    Proc. of ACC'01   2001年

    　詳細を見る

  • Trajectory tracking control by an adaptive iterative learning control with artificial neural networks

    M.Yamakita

    Proc. of ACC'01   2001年

    　詳細を見る

  • Adaptive Generation of Desired Velocity Field for Leader-Follower Type Cooperative Mobile Robots with Decentralized PVFC

    Masaki Yamakita Jin-Ho Suh

    Proc. of ICRA'01   2001年

    　詳細を見る

  • Extended PVFC with Variable Velocity Fields for Kneed Biped

    M. Yamakita, F. Asano

    Advanced Robotics   15 ( 2 )   139/168   2001年

    　詳細を見る

  • Adaptive Generation of Desired Velocity Field for Leader-Follower Type Cooperative Mobile Robots with Decentralized PVFC

    Masaki Yamakita Jin-Ho Suh

    Proc. of ICRA'01   2001年

    　詳細を見る

  • Extended Virtual Passive Dynamic Walking and Virtual Passivity-mimicking Control Laws

    F. Asano, M.Hashimoto, N.Kamamichi, M.Yamakita

    Proc. of ICRA'01   2001年

    　詳細を見る

  • An Adaptive Learning Control and Its Application of Vibration Isolation System

    M. Iwase, M, Yamakita, Y. Maruta, H. Yamazoe

    Asian Journal of Control   2001年

    　詳細を見る

  • Passive to Active Dynamic Walking

    H.Ohta M.Yamakita, K Furuta

    Int. J. Robust Nonlinear Control   11 ( 3 )   287 - 303   2001年

    　詳細を見る

  • Giant swing via forward upward circling of the Acrobat-robot

    Y.Michitsuji, H.Sato, M.Yamakita

    Proc. of ACC'01   2001年

    　詳細を見る

  • Trajectory tracking control by an adaptive iterative learning control with artificial neural networks

    M.Yamakita

    Proc. of ACC'01   2001年

    　詳細を見る

  • Extended PVFC with Variable Velocity Fields for Kneed Biped

    M. Yamakita, F. Asano

    Advanced Robotics   15 ( 2 )   139/168   2001年

    　詳細を見る

  • Virtual Coupling Control and Its Application to Biped Walking Robots

    M.Yamakita, F.Asano N.Kamamichi

    Proc. of IROS'01   2001年

    　詳細を見る

  • Periodic Stabilazing Control Considering Collisions- Application to Walking Robots -

    H.Ohata M.Yamakita

    Proc. of IROS'0   2001年

    　詳細を見る

  • Virtual gravity and coupling control for robotic gait synthesis

    F. Asano, M. Yamakita

    Proc. of 1st ISHF   2001年

    　詳細を見る

  • Virtual gravity and coupling control for robotic gait synthesis

    F. Asano, M. Yamakita

    Proc. of 1st ISHF   2001年

    　詳細を見る

  • Virtual Coupling Control and Its Application to Biped Walking Robots

    M.Yamakita, F.Asano N.Kamamichi

    Proc. of IROS'01   2001年

    　詳細を見る

  • Adaptive ANN Control of Robot Arm Using a Structure of Lagrange Equation

    Trans. of SICE   36 ( 8 )   726 - 728   2000年

    　詳細を見る

  • Decentralized PVFC for Cooperative Mobile Robots

    M.Yamakita, J.H.Suh, K.Hashiba

    Trans. IEE of Japan   120 ( 10 )   1485 - 1491   2000年

    　詳細を見る

  • Jumping Cat Robot with Kicking a Wall

    MASAKI YAMAKITA

    Proc. of AMAM   2000年

    　詳細を見る

  • PWM-Type Discrete VSS Controller for On/Off Acutator Systems

    MASAKI YAMAKITA

    Prof. of CDC'00   2000年

    　詳細を見る

  • An Adaptive Learnig Control and Its Application to Vibration Isolation Systems

    MASAKI YAMAKITA

    Proc. of Asian Control Conference   1558/1563   2000年

    　詳細を見る

  • Passive velocity field control of biped walking robot

    MASAKI YAMAKITA

    proc. of IEEE Int. Conf. on Robotics and Automation   2000年

    　詳細を見る

  • Extended PVFC with variable velocity fields for kneed biped

    MASAKI YAMAKITA

    Proc. of the first IEEE-RAS Int. Conf. on Humanoid Robots   2000年

    　詳細を見る

  • Swing up of inverted pendulum using vibrational input

    MASAKI YAMAKITA

    Proc. of CCA'00   2000年

    　詳細を見る

  • Adaptive Generation of Desired Velocity Field for Cooperative Mobile Robots with Decentralized PVFC

    MASAKI YAMAKITA

    Proc. of IROS'00   2000年

    　詳細を見る

  • Comparison of Output Feedback Controls Using ANN for Mechanical Systems

    MASAKI YAMAKITA

    Proc. of IECON'00   2000年

    　詳細を見る

  • Extended PVFC with variable velocity fields for kneed biped

    MASAKI YAMAKITA

    Proc. of the first IEEE-RAS Int. Conf. on Humanoid Robots   2000年

    　詳細を見る

  • Swing up of inverted pendulum using vibrational input

    MASAKI YAMAKITA

    Proc. of CCA'00   2000年

    　詳細を見る

  • Adaptive Generation of Desired Velocity Field for Cooperative Mobile Robots with Decentralized PVFC

    MASAKI YAMAKITA

    Proc. of IROS'00   2000年

    　詳細を見る

  • Design of Functional Observer in Input-Output Relation

    SUZUKI Tomomi, FURUTA Katsuhisa, YAMAKITA Masaki

    計測自動制御学会論文集   37 ( 1 )   44/49 - 49   2000年

    　詳細を見る

    記述言語：英語   出版者・発行元：The Society of Instrument and Control Engineers  

    In this paper, an exact reconstruction of the state is shown to be done using a finite past input-output data. This means that the input-output relation of the reconstruction system is given, which is named as the reconstructor, and it is shown to be a finite settling observer. A transfer function of the linear functional observer is obtained by the similar method to the reconstructor design.

    DOI： 10.9746/sicetr1965.37.44

    researchmap

  • Decentralized PVFC for Cooperative Mobile Robots

    MASAKI YAMAKITA

    Trans. IEE of Japan   Vol. 120-C ( 10 )   1485/1491   2000年

    　詳細を見る

  • A New Scheme of Nonlinear Continuous System Identification Using Radial Basis Function Networks

    MASAKI YAMAKITA

    Trans. IEE of Japan   120-C ( 8 )   726/728   2000年

    　詳細を見る

  • Comparison of Output Feedback Controls Using ANN for Mechanical Systems

    MASAKI YAMAKITA

    Proc. of IECON'00   2000年

    　詳細を見る

  • An Adaptive Learnig Control and Its Application to Vibration Isolation Systems

    MASAKI YAMAKITA

    Proc. of Asian Control Conference   1558/1563   2000年

    　詳細を見る

  • Passive velocity field control of biped walking robot

    MASAKI YAMAKITA

    proc. of IEEE Int. Conf. on Robotics and Automation   2000年

    　詳細を見る

  • Control Education Using Pendulum Apparatus

    MASAKI YAMAKITA

    Trans. on Control, Automation and Systems Eng.   2 ( 3 )   157/162   2000年

    　詳細を見る

  • Jumping Cat Robot with Kicking a Wall

    MASAKI YAMAKITA

    Proc. of AMAM   2000年

    　詳細を見る

  • PWM-Type Discrete VSS Controller for On/Off Acutator Systems

    MASAKI YAMAKITA

    Prof. of CDC'00   2000年

    　詳細を見る

  • Design of Functional Observer in Input-Output Relation

    MASAKI YAMAKITA

    Trans. of SICE   37 ( 1 )   44/49 - 49   2000年

    　詳細を見る

    記述言語：英語   出版者・発行元：The Society of Instrument and Control Engineers  

    In this paper, an exact reconstruction of the state is shown to be done using a finite past input-output data. This means that the input-output relation of the reconstruction system is given, which is named as the reconstructor, and it is shown to be a finite settling observer. A transfer function of the linear functional observer is obtained by the similar method to the reconstructor design.

    DOI： 10.9746/sicetr1965.37.44

    researchmap

  • Decentralized PVFC for Cooperative Mobile Robots

    MASAKI YAMAKITA

    Trans. IEE of Japan   Vol. 120-C ( 10 )   1485/1491   2000年

    　詳細を見る

  • ラグランジュ方程式の構造に着目したANNを用いたロボッアームの制御

    山北昌毅

    計測自動制御学会論文誌   36 ( 8 )   726/728   2000年

    　詳細を見る

  • A New Scheme of Nonlinear Continuous System Identification Using Radial Basis Function Networks

    MASAKI YAMAKITA

    Trans. IEE of Japan   120-C ( 8 )   726/728   2000年

    　詳細を見る

  • Control Education Using Pendulum Apparatus

    MASAKI YAMAKITA

    Trans. on Control, Automation and Systems Eng.   2 ( 3 )   157/162   2000年

    　詳細を見る

  • ラグランジュ方程式の構造に着目したＡＮＮを用いたロボットアームの制御

    山北昌毅, 佐藤隆志, 岩田高明

    計測自動制御学会論文誌   36 ( 8 )   726 - 728   2000年

    　詳細を見る

  • Decentralized PVFC for Cooperative Mobile Robots

    M.Yamakita, J.H.Suh, K.Hashiba

    Trans. IEE of Japan   120 ( 10 )   1485 - 1491   2000年

    　詳細を見る

  • Stabilization of a Limit Cycle in TITech Double Pendulum

    M. Yamakita, K. Furuta

    proc. of IFAC'99   1999年

    　詳細を見る

  • Improved Continuation Method Controller for PWM Systems: An Experimental Case Study

    MASAKI YAMAKITA

    Asian Journal of Control   1 ( 1 )   35/41   1999年

    　詳細を見る

  • Control Practice Using Pendulums,

    MASAKI YAMAKITA

    ACC'99.   1999年

    　詳細を見る

  • Tele-Bilateral Impedance Control for Master-Slave Systems

    M.Yamakita, M.Negi K.Ito

    Trans. of the SICE   35 ( 3 )   370 - 377   1999年

    　詳細を見る

    記述言語：英語   出版者・発行元：The Society of Instrument and Control Engineers  

    With an increase of needs of tele-operation in several applications, e.g., deep sea or space exploration and tele-surgery, many researchers studied bilateral master-slave tele-operator systems especially after a novel and simple method using a scattering transformation to overcome the instability due to transmission delays was proposed. In this paper we propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by an operator in a bilateral fashion. The stability of the system for the time delay is also discussed, and the effectiveness of the system is shown by experiments.

    DOI： 10.9746/sicetr1965.35.370

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00059949664?from=CiNii

  • Robot Motion Control by MaTX/RtMatX

    MASAKI YAMAKITA

    proc. CACSD'99   1999年

    　詳細を見る

  • Stabilization of a Limit Cycle in TITech Double Pendulum,

    MASAKI YAMAKITA

    proc. of IFAC'99   1999年

    　詳細を見る

  • Output feedback control for PWM systems: online continuation method approach

    MASAKI YAMAKITA

    proc. ACC'99   1999年

    　詳細を見る

  • Adaptive ANN control of robot arm using structure of Lagrange equation

    MASAKI YAMAKITA

    ACC'99   1999年

    　詳細を見る

  • Stabilization of a Limit Cycle in TITech Double Pendulum,

    MASAKI YAMAKITA

    proc. of IFAC'99   1999年

    　詳細を見る

  • From passive to active dynamic walking

    MASAKI YAMAKITA

    Proc. of CDC'99   1999年

    　詳細を見る

  • Motion Generation of Robotic Systems Using Finite Automaton Based on Gradient Flow

    M. Yamakita, T. Sumiya

    Proc. of SMC'99   VI-914-917   1999年

    　詳細を見る

  • Adaptive ANN Control of Robot Arm using Structure of Lagrange Equation

    M. Yamakita, T. Satoh

    Proc. ACC'99   2834 - 2836   1999年

    　詳細を見る

  • Control Practice using Pendulums

    M. Yamakita, T. Hishino, K. Furuta

    Proc. ACC'99   490 - 494   1999年

    　詳細を見る

  • Output feedback control for PWM systems: online continuation method approach

    MASAKI YAMAKITA

    proc. ACC'99   1999年

    　詳細を見る

  • Adaptive ANN control of robot arm using structure of Lagrange equation

    MASAKI YAMAKITA

    ACC'99   1999年

    　詳細を見る

  • Control Practice Using Pendulums,

    MASAKI YAMAKITA

    ACC'99.   1999年

    　詳細を見る

  • Tele-Bilateral Impedance Control for Master-Slave Systems

    Yamakita Masaki, Negi Masaru, Ito Koji

    計測自動制御学会論文集   35 ( 3 )   370 - 377   1999年

    　詳細を見る

    記述言語：英語   出版者・発行元：The Society of Instrument and Control Engineers  

    With an increase of needs of tele-operation in several applications, e.g., deep sea or space exploration and tele-surgery, many researchers studied bilateral master-slave tele-operator systems especially after a novel and simple method using a scattering transformation to overcome the instability due to transmission delays was proposed. In this paper we propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by an operator in a bilateral fashion. The stability of the system for the time delay is also discussed, and the effectiveness of the system is shown by experiments.

    DOI： 10.9746/sicetr1965.35.370

    CiNii Books

    researchmap

    その他リンク： https://jlc.jst.go.jp/DN/JALC/00059949664?from=CiNii

  • orward Robust State Transfer Control of TITech Double Pendulum

    M. Yamakita, K. Furuta

    The Astrom Symposium on Control, ed. B. Wittenmark and A. Rantzer, Studentlitteratur   73 - 96   1999年

    　詳細を見る

  • Robot Motion Control by MaTX/RtMatX

    MASAKI YAMAKITA

    proc. CACSD'99   1999年

    　詳細を見る

  • Adaptive ANN Control of Robot Arm using Structure of Lagrange Equation

    M. Yamakita, T. Satoh

    Proc. ACC'99   2834 - 2836   1999年

    　詳細を見る

  • Control Practice using Pendulums

    M. Yamakita, T. Hishino, K. Furuta

    Proc. ACC'99   490 - 494   1999年

    　詳細を見る

  • orward Robust State Transfer Control of TITech Double Pendulum

    M. Yamakita, K. Furuta

    The Astrom Symposium on Control, ed. B. Wittenmark and A. Rantzer, Studentlitteratur   73 - 96   1999年

    　詳細を見る

  • Stabilization of a Limit Cycle in TITech Double Pendulum

    M. Yamakita, K. Furuta

    proc. of IFAC'99   1999年

    　詳細を見る

  • From passive to active dynamic walking

    MASAKI YAMAKITA

    Proc. of CDC'99   1999年

    　詳細を見る

  • Motion Generation of Robotic Systems Using Finite Automaton Based on Gradient Flow

    M. Yamakita, T. Sumiya

    Proc. of SMC'99   VI-914-917   1999年

    　詳細を見る

  • Improved Continuation Method Controller for PWM Systems: An Experimental Case Study

    MASAKI YAMAKITA

    Asian Journal of Control   1 ( 1 )   35/41   1999年

    　詳細を見る

  • A System Structure with Trajectory Planning and Control for Robotic Dynamic Manipulation

    MASAKI YAMAKITA

    Advanced Robotics   11 ( 7 )   695 - 712   1998年

    　詳細を見る

  • Passive Velocity Field Controlを用いた複腕協調制御

    山北昌毅

    電気学会論文誌 C分冊   66/74   1998年

    　詳細を見る

  • Online continuation method controller for PWM systems

    MASAKI YAMAKITA

    Proc. of CDC'98   1998年

    　詳細を見る

  • An Application of Passive Velocity Field Control to Cooperative Multiple 3-Wheeled Mobile Robots

    MASAKI YAMAKITA

    Proc. of IROS'98   1998年

    　詳細を見る

  • Online continuation method controller for PWM systems

    MASAKI YAMAKITA

    Proc. of CDC'98   1998年

    　詳細を見る

  • An Application of Passive Velocity Field Control to Cooperative Multiple 3-Wheeled Mobile Robots

    MASAKI YAMAKITA

    Proc. of IROS'98   1998年

    　詳細を見る

  • Decentralized Cooperative Controller for Multiple Robotic Systems Based on Passivity Velocity Field Control

    MASAKI YAMAKITA

    Proc. ISIAC'98   1998年

    　詳細を見る

  • A System Structure with Trajectory Planning and Control for Robotic Dynamic Manipulation

    MASAKI YAMAKITA

    Advanced Robotics   11 ( 7 )   695 - 712   1998年

    　詳細を見る

  • Decentralized Cooperative Controller for Multiple Robotic Systems Based on Passivity Velocity Field Control

    MASAKI YAMAKITA

    Proc. ISIAC'98   1998年

    　詳細を見る

  • 未知の柔軟対象物に対する接触作業のためのマニピュレータのゲインスケジュール制御

    山北昌毅

    システム制御情報学会論文集   10 ( 5 )   236 - 241   1997年

    　詳細を見る

  • 未知な柔軟曲面上での倣い作業におけるマニピュレータの動的位置/力制御

    山北昌毅

    日本機械学会論文集(C編)   63 ( 607 )   937 - 944   1997年

    　詳細を見る

    記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

    In this paper we study the performance of contact tasks by a robot manipulator on flexible objects. The flexible object's distributed parameter model is approximated as a lumped "position state-varying" model. By using nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's force control subspace. An optimal state feedback is designed for the position loop, and the robot's contact force is controlled using model-reference simple adaptive control. Experiments using a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach.

    DOI： 10.1299/kikaic.63.937

    CiNii Books

    researchmap

  • An Extension of Passive Velocity Field Control to Cooperative Multiple Manipulator Systems

    MASAKI YAMAKITA

    proc. of IROS'97   11/16   1997年

    　詳細を見る

  • An Extension of Passive Velocity Field Control to Cooperative Multiple Manipulator Systems

    MASAKI YAMAKITA

    proc. of IROS'97   11/16   1997年

    　詳細を見る

  • Impedance Control of Robot Manipulators using Euler Parameters

    MASAKI YAMAKITA

    Proc. of CDC'96   1964 - 1966   1996年

    　詳細を見る

  • Potential Field Representation of Environment Model and Its Application to Robot's Force/Position Hybrid Control

    MASAKI YAMAKITA

    Proc. of ETFA'96   316 - 321   1996年

    　詳細を見る

  • 適応スライディング面によるモデル規範型可変構造制御に関する研究

    山北昌毅

    計測自動制御学会論文集   32 ( 5 )   689 - 698   1996年

    　詳細を見る

  • Impedance Control of Robot Manipulators using Euler Parameters

    MASAKI YAMAKITA

    Proc. of CDC'96   1964 - 1966   1996年

    　詳細を見る

  • 三輪車の動的制御でヒューマンオペレーション

    山北昌毅

    電気学会論文誌C分冊   116-C   66 - 74   1996年

    　詳細を見る

  • Adaptive hybrid control of manipulators on uncertain flexible objects

    JQ Wu, ZW Luo, M Yamakita, K Ito

    ADVANCED ROBOTICS   10 ( 5 )   469 - 485   1996年

    　詳細を見る

    記述言語：英語   出版者・発行元：TAYLOR & FRANCIS LTD  

    This paper presents an adaptive hybrid control approach for a robot manipulator to interact with its flexible object. Because of its flexibility, the object dynamics influence the robot's control system, and since it is usually a distributed parameter system, the object dynamics as seen from the robot change when the robot moves. The problem becomes further complicated such that it is difficult to decompose the robot's position and contact force control loops. In this paper, we approximate the object's distributed parameter model into a lumped 'position state-varying' model. Then, by using the well-known nonlinear feedback compensation, we decompose the robot's control space into a position control subspace and object torque control subspace. We design the optimal state feedback for the position control loop and control the robot's contact force through controlling the resultant torque of the object. We use the model-reference simple adaptive control strategy to control the torque control loop. We also study the problem on how to select a reasonable reference model for this control loop. Experiments of a PUMA robot interacting with an aluminum beam show the effectiveness of our approach.

    DOI： 10.1163/156855396X00174

    Web of Science

    researchmap

  • Model Following Control on an Adaptive Sliding Surface for a Class of Plants with Unmatched Parametric Uncertainties

    MASAKI YAMAKITA

    3510/3515   1996年

    　詳細を見る

  • Adaptive Hybrid Control for a Robot Manipulators Interacting with Uncertain Flexible Environments

    MASAKI YAMAKITA

    Proc. of 13th IFAC world congress   1996年

    　詳細を見る

  • マッチング条件とみたさないパラメータ不確定性をもつクラスのプラントに対する適応スライディング面に基づいたモデル追従制御

    山北昌毅

    計測自動制御学会論文集   32 ( 5 )   663 - 671   1996年

    　詳細を見る

  • Model Following Control on an Adaptive Sliding Surface for a Class of Plants with Unmatched Parametric Uncertainties

    MASAKI YAMAKITA

    3510/3515   1996年

    　詳細を見る

  • Adaptive Hybrid Control for a Robot Manipulators Interacting with Uncertain Flexible Environments

    MASAKI YAMAKITA

    Proc. of 13th IFAC world congress   1996年

    　詳細を見る

  • Potential Field Representation of Environment Model and Its Application to Robot's Force/Position Hybrid Control

    MASAKI YAMAKITA

    Proc. of ETFA'96   316 - 321   1996年

    　詳細を見る

  • Heterogeniously Constrained Master-Slave System: Cart and Human Coordination

    MASAKI YAMAKITA

    Proc. of Ro-Man'95   153/158   1995年

    　詳細を見る

  • Compliant Control Considering a Robot's Mauipulability

    MASAKI YAMAKITA

    Trans. of SICE   31 ( 9 )   1534 - 1539   1995年

    　詳細を見る

  • Robust Swing Up Control of Double Pendulum

    MASAKI YAMAKITA

    Proc. of ACC '95   1995年

    　詳細を見る

  • Experimental Study of Tele-Bilateral Impedance Control Using Bilinear Model

    MASAKI YAMAKITA

    Proc. of IEEE Robotic & Automation   1995年

    　詳細を見る

  • Compliant Control Considering a Robot's Mauipulability

    MASAKI YAMAKITA

    Trans. of SICE   31 ( 9 )   1534 - 1539   1995年

    　詳細を見る

  • Robust Swing Up Control of Double Pendulum

    MASAKI YAMAKITA

    Proc. of ACC '95   1995年

    　詳細を見る

  • Experimental Study of Tele-Bilateral Impedance Control Using Bilinear Model

    MASAKI YAMAKITA

    Proc. of IEEE Robotic & Automation   1995年

    　詳細を見る

  • Heterogeniously Constrained Master-Slave System: Cart and Human Coordination

    MASAKI YAMAKITA

    Proc. of Ro-Man'95   153/158   1995年

    　詳細を見る

  • Estimation of environment models using vector field and its application to robot's contact tasks

    ZW Luo, K Ito, M Yamakita

    1995 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS PROCEEDINGS, VOLS 1-6   2546 - 2549   1995年

    　詳細を見る

    記述言語：英語   出版者・発行元：IEEE  

    Web of Science

    researchmap

  • Juggling Control Using Neural Oscillators

    MASAKI YAMAKITA

    Proc. of IROS '94   1994年

    　詳細を見る

  • Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Cariation

    MASAKI YAMAKITA

    Autonoumous Robotics Systems   279/288   1994年

    　詳細を見る

  • Juggling Control Using Neural Oscillators

    MASAKI YAMAKITA

    Proc. of IROS '94   1994年

    　詳細を見る

  • Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Cariation

    MASAKI YAMAKITA

    Autonoumous Robotics Systems   279/288   1994年

    　詳細を見る

  • Swing up control of inverted pendulum using pseudo-state feedback

    MASAKI YAMAKITA

    Journal of Systems and Control Engineers   206   1993年

    　詳細を見る

  • A NEW RECURSIVE FORM ADAPTIVE CONTROL OF MANIPULATORS AND ITS RELATIONS TO CONVENTIONAL RECORSIVE-CLOSED FORM ADAPTIVE CONTROL

    MASAKI YAMAKITA

    Proc. of IFAC Congress '93   1993年

    　詳細を見る

  • A NEW RECURSIVE FORM ADAPTIVE CONTROL OF MANIPULATORS AND ITS RELATIONS TO CONVENTIONAL RECORSIVE-CLOSED FORM ADAPTIVE CONTROL

    MASAKI YAMAKITA

    Proc. of IFAC Congress '93   1993年

    　詳細を見る

  • Swing Up Control of Double Pendulum

    MASAKI YAMAKITA

    Proc. of ACC '93   1993年

    　詳細を見る

  • Swing up control of inverted pendulum using pseudo-state feedback

    MASAKI YAMAKITA

    Journal of Systems and Control Engineers   206   1993年

    　詳細を見る

  • Swing Up Control of Double Pendulum

    MASAKI YAMAKITA

    Proc. of ACC '93   1993年

    　詳細を見る

  • A Design of learning control system for multivariable systems

    MASAKI YAMAKITA

    Asia-Pacific Engineering Journal (Part A)   2 ( 1 )   97 - 118   1992年

    　詳細を見る

  • Tele-Virtual Reality of Dynamic Model

    MASAKI YAMAKITA

    Proc of IROS '92   1992年

    　詳細を見る

  • A Design of learning control system for multivariable systems

    MASAKI YAMAKITA

    Asia-Pacific Engineering Journal (Part A)   2 ( 1 )   1992年

    　詳細を見る

  • Tele-Virtual Reality of Dynamic Model

    MASAKI YAMAKITA

    Proc of IROS '92   1992年

    　詳細を見る

  • Iterative generation of virtual reference for a manipulator

    MASAKI YAMAKITA

    Robotica   ( 9 )   1991年

    　詳細を見る

  • Parallel Implementation of Newton-Euler Algorithm with One Step Ahead Prediction

    MASAKI YAMAKITA

    Proc. of Robotics & Automation   1991年

    　詳細を見る

  • Iterative generation of virtual reference for a manipulator

    MASAKI YAMAKITA

    Robotica   ( 9 )   1991年

    　詳細を見る

  • Parallel Implementation of Newton-Euler Algorithm with One Step Ahead Prediction

    MASAKI YAMAKITA

    Proc. of Robotics & Automation   1991年

    　詳細を見る

  • 学習による離散時間系に対する仮想目標入力設計法

    山北昌毅

    計測自動制御学会論文集   25 ( 8 )   867 - 873   1988年

    　詳細を見る

    出版者・発行元：The Society of Instrument and Control Engineers  

    Virtual reference is defined as the setpoint for a closed loop system so that the response tracks the desired path perfectly. It is proposed to obtain a virtual reference for a discrete system by repetitively modifying setpoint over the timed interval in which the desired path is specified. A necessary and sufficient condition that the response tracks perfectly is given firstly. In this learning method, a virtual reference should be determined by learning when a new desired response should be considered. Secondly to improve this shortcoming is studied.

    DOI： 10.9746/sicetr1965.25.867

    researchmap

  • Computation of optimal control for linear systems with delay Spatial Cariation

    MASAKI YAMAKITA

    International Journal of Control   48 ( 2 )   577 - 589   1988年

    　詳細を見る

  • Computation of optimal control for linear systems with delay Spatial Cariation

    MASAKI YAMAKITA

    International Journal of Control   48 ( 2 )   577 - 589   1988年

    　詳細を見る

  • 線形多変数システムに対する学習制御系設計

    山北昌毅

    計測自動制御学会論文誌   22 ( 12 )   1986年

    　詳細を見る

  • ITERATIVE GENERATION OF OPTIMAL INPUT FOR A MANIPULATOR

    MASAKI YAMAKITA

    Proc. of IEEE Robotics and Automation   579/683   1986年

    　詳細を見る

  • Design of Learning Control for Multi Linear Systems

    MASAKI YAMAKITA

    Journal of SICE   22 ( 12 )   1986年

    　詳細を見る

  • ITERATIVE GENERATION OF OPTIMAL INPUT FOR A MANIPULATOR

    MASAKI YAMAKITA

    Proc. of IEEE Robotics and Automation   579/683   1986年

    　詳細を見る

  • Trajectory Tracking Control of Robot Arms Using ORBIX

    MASAKI YAMAKITA

    Journal of Robotics Systems   2 ( 1 )   1985年

    　詳細を見る

  • Trajectory Tracking Control of Robot Arms Using ORBIX

    MASAKI YAMAKITA

    Journal of Robotics Systems   2 ( 1 )   1985年

    　詳細を見る

▼全件表示

講演・口頭発表等

  • Nonlinear Model Predictive Control for Constrained Mechanical Systems with State Jump

    CCA2006  2006年 

    　詳細を見る

  • MPC for a Simplified Transmission Model with Backlash Using UKF

    CCA2006  2006年 

    　詳細を見る

  • UＫＦを用いたバックラッシュ系のモデル予測制御

    自動連合講演会  2006年 

    　詳細を見る

  • Stabilization of Nonlinear Planer Systems using Homogeneous Eigenvalues

    SICE-ICCAS 2006  2006年 

    　詳細を見る

  • An Optimization Approach for Underactuated Running Robot

    SICE-ICCAS 2006  2006年 

    　詳細を見る

  • バッキーゲル素子のセンサ機能の検証

    第２４回日本ロボット学会学術講演会  2006年 

    　詳細を見る

  • Stokes-Dirac構造と指数定理，第35回制御理論シンポジウム

    第35回制御理論シンポジウム  2006年 

    　詳細を見る

  • Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds

    17th International Symposium on Mathematical Theory of Networks and Systems  2006年 

    　詳細を見る

  • Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators

    3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2006年 

    　詳細を見る

  • 3D Motion Control of 2 links (5 D.O.F.) Underactuated Manipulator named AcroBOX

    ACC2006  2006年 

    　詳細を見る

  • Integrated Design of IPMC Actuator/Sensor

    ICRA2006  2006年 

    　詳細を見る

  • A Snake-like Swimming Robot Using IPMC Actuator/Sensor

    ICRA2006  2006年 

    　詳細を見る

  • MPC for a Simplified Transmission Model with Backlash Using UKF

    CCA2006  2006年 

    　詳細を見る

  • Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds

    17th International Symposium on Mathematical Theory of Networks and Systems  2006年 

    　詳細を見る

  • 電気的干渉を考慮したIPMCアクチュエータセンサ併合系の構築

    SI2006  2006年 

    　詳細を見る

  • 受動性の原理に基づく方法は何故有効化？

    SI2006  2006年 

    　詳細を見る

  • 上体を考慮した受動歩行規範2足歩行の高効率歩行の実現

    第7回計測自動制御学会システムインテグレーション部門講演会  2006年 

    　詳細を見る

  • Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries

    CDC2006  2006年 

    　詳細を見る

  • Experimental Study of Automatic Control of Bicycle with Balancer

    IROS2006  2006年 

    　詳細を見る

  • Time-Varying Port-Representation of Dissipative Structures with Gauge Transformations

    European Control Conference 2007  2007年 

    　詳細を見る

  • Identification of Hammerstein Systems with Piecewise-Affine Nonlinearities

    American Control Conference 2007  2007年 

    　詳細を見る

  • Effect of the Foot Shape on the Passive Biped Waking

    2007年 

    　詳細を見る

  • Efficient Walking Control of Robot with Torso Based on Passive Dynamic Walking

    International Conference on Mechatronics 2007  2007年 

    　詳細を見る

  • Control Engineering Education through AUN/SEED-Net

    SICE Annual Conference 2007  2007年 

    　詳細を見る

  • Benchmark Problem on Control Engineering

    SICE Annual Conference 2007  2007年 

    　詳細を見る

  • Identification of Hammerstein Systems with Piecewise Nonlinearities with Memory

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Field Port-Lagrangian Systems with Degenerate Lagrangian and External Forces

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Port-Representation of Bi-Hamiltonian Structure for Infinite-Dimensional Symmetry

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Sensor Property of a Novel EAP Device with Inonic-liquid-based Bucky Gel

    2007年 

    　詳細を見る

  • Scaling reduction of port-Hamiltonian systems for numerical calculation

    ICROS-SICE Int’l Joint Conf. 2009 (ICCAS-SICE 2009)  2009年 

    　詳細を見る

  • Speed Control of Vehicles with Variable Valve Lift Engine by Nonlinear MPC

    SICE2009  2009年 

    　詳細を見る

  • Controller Design of an Autonomous Bicycle with Both Steering and Balancer Controls

    MSC2009  2009年 

    　詳細を見る

  • 未知システムに対する適応最適制御の一手法

    第５３回システム制御情報学会研究発表講演会  2009年 

    　詳細を見る

  • Realization of Acrobatic Turn Via Wheelie for a Bicycle with a Balancer

    Proc. of ICRA2009  2009年 

    　詳細を見る

  • Scaling reduction of port-Hamiltonian systems for numerical calculation

    ICROS-SICE Int’l Joint Conf. 2009 (ICCAS-SICE 2009)  2009年 

    　詳細を見る

  • Unscented Gaussian Sum Filtering for Interval Constrained Nonlinear Systems

    SICE2009  2009年 

    　詳細を見る

  • Control of underactuated biped running robot via CPG

    SICE2009  2009年 

    　詳細を見る

  • Efficient Unscented Filtering for Nonlinear Systems with State Constraints

    ECC2009  2009年 

    　詳細を見る

  • Design of a Novel Central Pattern generator and the Hebbian Motion Learning

    MSC2009  2009年 

    　詳細を見る

  • Trajectory Control for an Autonomous Bicycle with Balancer

    2008年 

    　詳細を見る

  • Control of underactuated biped running robot via CPG

    SICE2009  2009年 

    　詳細を見る

  • Efficient Unscented Filtering for Nonlinear Systems with State Constraints

    ECC2009  2009年 

    　詳細を見る

  • Design of a Novel Central Pattern generator and the Hebbian Motion Learning

    MSC2009  2009年 

    　詳細を見る

  • Controller Design of an Autonomous Bicycle with Both Steering and Balancer Controls

    MSC2009  2009年 

    　詳細を見る

  • Adaptive generation of eigenmode by using nonlinear oscillator network

    2008年 

    　詳細を見る

    会議種別：ポスター発表  

    researchmap

  • Liquid Environment-Adaptive IPMC Fish-Like Robot using Extremum Seeking Feedback

    2008年 

    　詳細を見る

  • Speed Control of Vehicles with Variable Valve Lift Engine by Nonlinear MPC

    SICE2009  2009年 

    　詳細を見る

  • Unscented Gaussian Sum Filtering for Interval Constrained Nonlinear Systems

    SICE2009  2009年 

    　詳細を見る

  • Realization of Acrobatic Turn Via Wheelie for a Bicycle with a Balancer

    Proc. of ICRA2009  2009年 

    　詳細を見る

  • Adaptive generation of eigenmode by using nonlinear oscillator network

    2008年 

    　詳細を見る

    会議種別：ポスター発表  

    researchmap

  • Liquid Environment-Adaptive IPMC Fish-Like Robot using Extremum Seeking Feedback

    2008年 

    　詳細を見る

  • Topological Geometry and Control for Distributed Port-Hamiltonian Systems with Non-integrable Structures

    CDC2008  2008年 

    　詳細を見る

  • Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method

    IROS2008  2008年 

    　詳細を見る

  • Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method

    IROS2008  2008年 

    　詳細を見る

  • Design of Convex Foot for Efficient Dynamic Bipedal Walking

    Proc. of IROS2008  2008年 

    　詳細を見る

  • Robust Combined Feedfoward and Feedback Control forStart up Engine Control

    Proc. of CCC2008  2008年 

    　詳細を見る

  • Trajectory Control for an Autonomous Bicycle with Balancer

    2008年 

    　詳細を見る

  • Design of Convex Foot for Efficient Dynamic Bipedal Walking

    Proc. of IROS2008  2008年 

    　詳細を見る

  • Robust Combined Feedfoward and Feedback Control forStart up Engine Control

    Proc. of CCC2008  2008年 

    　詳細を見る

  • Control Engineering Education through AUN/SEED-Net

    SICE Annual Conference 2007  2007年 

    　詳細を見る

  • Benchmark Problem on Control Engineering

    SICE Annual Conference 2007  2007年 

    　詳細を見る

  • Time-Varying Port-Representation of Dissipative Structures with Gauge Transformations

    European Control Conference 2007  2007年 

    　詳細を見る

  • Identification of Hammerstein Systems with Piecewise-Affine Nonlinearities

    American Control Conference 2007  2007年 

    　詳細を見る

  • Development of Autonomous Bike Robot with Balancer

    SICE2007  2007年 

    　詳細を見る

  • Falling Avoidance Control of Acrobat Robot by Reinforcement Learning

    SICE2007  2007年 

    　詳細を見る

  • プリント技術によるバッキーゲルアクチュエータセンサーの試作と検討

    第25回日本ロボット学会学術講演会  2007年 

    　詳細を見る

  • Effect of the Foot Shape on the Passive Biped Waking

    2007年 

    　詳細を見る

  • Efficient Walking Control of Robot with Torso Based on Passive Dynamic Walking

    International Conference on Mechatronics 2007  2007年 

    　詳細を見る

  • Topological Geometry and Control for Distributed Port-Hamiltonian Systems with Non-integrable Structures

    CDC2008  2008年 

    　詳細を見る

  • An Application of Nonlinear Receding Horizon Control to osture Control with Collisions

    AIM2005  2005年 

    　詳細を見る

  • Formation Control of Autonomous Underwater Viheicles

    IFAC ２００５  2005年 

    　詳細を見る

  • Control of Biped Walking Robot with IPMC Linear Actuator

    AIM２００５  2005年 

    　詳細を見る

  • Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries

    CDC2006  2006年 

    　詳細を見る

  • Automatic Control of Bicycles with a Balancer

    AIM 2005  2005年 

    　詳細を見る

  • Nonlinear Model Predictive Control for Constrained Mechanical Systems with State Jump

    CCA2006  2006年 

    　詳細を見る

  • Stabilization of Nonlinear Planer Systems using Homogeneous Eigenvalues

    SICE-ICCAS 2006  2006年 

    　詳細を見る

  • An Optimization Approach for Underactuated Running Robot

    SICE-ICCAS 2006  2006年 

    　詳細を見る

  • Landing Control of Acrobat Robot by RHC -Experimental Evaluation -

    SICE-ICASE 2006  2006年 

    　詳細を見る

  • Experimental Study of Automatic Control of Bicycle with Balancer

    IROS2006  2006年 

    　詳細を見る

  • An Extension of Nonlinear Receding Horizon Control for witched System with State Jump

    IROS 2005  2005年 

    　詳細を見る

  • A Snake-Like Swimming Robot Using IPMC Actuator and erification of Doping Effect

    IROS 2005  2005年 

    　詳細を見る

  • An Extension of Nonlinear Receding Horizon Control for witched System with State Jump

    IROS 2005  2005年 

    　詳細を見る

  • A Snake-Like Swimming Robot Using IPMC Actuator and erification of Doping Effect

    IROS 2005  2005年 

    　詳細を見る

  • Automatic Control of Bicycles with a Balancer

    AIM 2005  2005年 

    　詳細を見る

  • An Application of Nonlinear Receding Horizon Control to osture Control with Collisions

    AIM2005  2005年 

    　詳細を見る

  • Formation Control of Autonomous Underwater Viheicles

    IFAC ２００５  2005年 

    　詳細を見る

  • Control of Biped Walking Robot with IPMC Linear Actuator

    AIM２００５  2005年 

    　詳細を見る

  • Boundary Detection of Variational Symmetry Breaking Using Port-Representation of Conservation Laws

    Proc. of CDC09  2010年 

    　詳細を見る

  • Constrained State Estimation for Nonlinear Systems with non-Gaussian Noise

    Proc. of CDC09  2010年 

    　詳細を見る

  • Adaptive Output Opimal Control Algorighm for Unknown System Dynamics Based on Policy Iteration

    Proc. of ICA09  2010年 

    　詳細を見る

  • Controlling Balancer and Steering for Bicycle Stabilization

    Proc. IROS09  2010年 

    　詳細を見る

  • Controlling Balancer and Steering for Bicycle Stabilization

    Proc. IROS09  2010年 

    　詳細を見る

  • Boundary Detection of Variational Symmetry Breaking Using Port-Representation of Conservation Laws

    Proc. of CDC09  2010年 

    　詳細を見る

  • Constrained State Estimation for Nonlinear Systems with non-Gaussian Noise

    Proc. of CDC09  2010年 

    　詳細を見る

  • Adaptive Output Opimal Control Algorighm for Unknown System Dynamics Based on Policy Iteration

    Proc. of ICA09  2010年 

    　詳細を見る

  • A Snake-like Swimming Robot Using IPMC Actuator/Sensor

    ICRA2006  2006年 

    　詳細を見る

  • Identification of Hammerstein Systems with Piecewise Nonlinearities with Memory

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Field Port-Lagrangian Systems with Degenerate Lagrangian and External Forces

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Port-Representation of Bi-Hamiltonian Structure for Infinite-Dimensional Symmetry

    Int. Conf. on Decision and Control  2007年 

    　詳細を見る

  • Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators

    3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control  2006年 

    　詳細を見る

  • 保存則のポート表現による変分対称性崩壊の境界検出

    第6回計測自動制御学会制御部門大会  2006年 

    　詳細を見る

  • 3D Motion Control of 2 links (5 D.O.F.) Underactuated Manipulator named AcroBOX

    ACC2006  2006年 

    　詳細を見る

  • Integrated Design of IPMC Actuator/Sensor

    ICRA2006  2006年 

    　詳細を見る

  • Development of Autonomous Bike Robot with Balancer

    SICE2007  2007年 

    　詳細を見る

  • Falling Avoidance Control of Acrobat Robot by Reinforcement Learning

    SICE2007  2007年 

    　詳細を見る

  • Landing Control of Acrobat Robot by RHC -Experimental Evaluation -

    SICE-ICASE 2006  2006年 

    　詳細を見る

▼全件表示

共同研究・競争的資金等の研究課題

  • 人工筋アクチュエータの開発

    2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • Model Predictive Control for Variable Constrainted Systems

    2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • 可変拘束系のモデル予測制御

    2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • Development of Artifitial Muscle Actuator

    2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • アクロバットロボットの制御

    1999年 - 2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • Control of Acrobat Robot

    1999年 - 2002年

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • マスタ・スレーブシステムに関する研究

    　 詳細を見る

    資金種別：競争的資金

    researchmap

  • Study on Master-Slave Systems

    　 詳細を見る

    資金種別：競争的資金

    researchmap

▼全件表示