Zobrazeno 1 - 10
of 12
pro vyhledávání: '"Kazuya Murotani"'
Publikováno v:
Advanced Robotics. 34:1455-1471
This paper describes an experimental comparison of force control methods, including resolved acceleration control (RAC), joint position control (JPC), and resolved viscoelasticity control (RVC), fo...
Autor:
Kazuya Murotani, Yoshihiko Nakamura, Ryoya Suzuki, Mitsuo Komagata, Mamoru Tatano, Tianyi Ko, Ko Yamamoto, Hiroshi Kaminaga
Publikováno v:
Advanced Robotics. 34:958-973
Electro-hydrostatic actuator (EHA) has backdrivability and is suitable for a robot system that cooperates with human. However, its design methodology to miniaturize and to generate high pressure ha...
Publikováno v:
Robotics and Autonomous Systems. 157:104218
Publikováno v:
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022:1P1-C08
Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783030339494
ISER
ISER
A backdrivable or force-controllable actuator is one of the key elements needed to develop a humanoid capable of interacting with humans. Recently, we developed the humanoid Hydra using electro hydrostatic actuators, which have high backdrivability a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::41ee65a093ed5e013848002d1e4e07f2
https://doi.org/10.1007/978-3-030-33950-0_53
https://doi.org/10.1007/978-3-030-33950-0_53
Publikováno v:
ICRA
This paper describes a stable knee-stretched walking of a humanoid by the resolved viscoelasticity control (RVC). The RVC method resolves multiple viscoelasticities in task-space, including the center of mass viscoelasticity for balancing, into joint
Publikováno v:
Humanoids
The backdrivability of joints is a critical requirement for the robots that perform tasks in uncertain environments. While series elastic actuators are intrinsically backdrivable, their control bandwidth is limited by the low resonant frequency of th
Publikováno v:
International Journal of Humanoid Robotics. 18:2150002
Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an approach to realize force-sensitive robots. To expe
Publikováno v:
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2019:2A2-J02
Autor:
Yuji Suzuki, Kazuya Murotani
Publikováno v:
Journal of Micromechanics and Microengineering. 28:104001
A MEMS electret vibration energy harvester with an embedded bistable electrostatic spring for broadband response is proposed. By using a vertical electret, the bistable potential can be realized without any complex structure or additional mechanism.