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Research Output 2001 2019

2019

Choice of muscular forces for motion control of a robot arm with biarticular muscles

Morizono, T., Tahara, K. & Kino, H., Jan 1 2019, In : Journal of Robotics and Mechatronics. 31, 1, p. 143-155 13 p.

Research output: Contribution to journalArticle

Motion control
Muscle
Robots
Robotic arms
Kinetics

Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator

Tanizaki, H., Takagi, K., Oiwa, C., Masuya, K., Tahara, K., Irisawa, T., Shioya, M. & Asaka, K., Jan 1 2019, Electroactive Polymer Actuators and Devices (EAPAD) XXI. Bar-Cohen, Y., Anderson, I. A. & Johnson, N. L. (eds.). SPIE, 109660U. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 10966).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

fishing
Artificial muscle
muscles
Experimental Investigation
Hysteresis

Experiment verification and stability analysis of iterative learning control for shape memory alloy wire

Kino, H., Mori, N., Moribe, S., Tsuda, K. & Tahara, K., Aug 2019, In : Journal of Robotics and Mechatronics. 31, 4, p. 583-593 11 p.

Research output: Contribution to journalArticle

Robot applications
Position control
Iterative methods
Shape memory effect
Learning algorithms
1 Citation (Scopus)

Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback

Tahara, K., Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Yamauchi, T. & Tanaka, E., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2447-2454 8 p., 8653971.

Research output: Contribution to journalArticle

Open Access
Actuator
Actuators
Fiber
Feedback
Angle

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback

Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Fujino, R., Yamauchi, T., Tanaka, E. & Tahara, K., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2561-2567 7 p., 8678402.

Research output: Contribution to journalArticle

Trajectory Tracking
Feedforward
Actuator
Actuators
Trajectories
Delay control systems
Musculoskeletal system
Motion control
Numerical methods
Gravitation

「ソフトロボティクス」特集について

Translated title of the contribution: On special issue “Soft Robotics”新山龍馬 & 田原健二, Jan 2019, In : 日本ロボット学会誌. 37, 1, p. 2-3 2 p.

Research output: Contribution to journalArticle

Robotics
2018

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

Kino, H., Yoshitake, T., Wada, R., Tahara, K. & Tsuda, K., Jul 18 2018, In : Advanced Robotics. 32, 14, p. 766-777 12 p.

Research output: Contribution to journalArticle

Wire
Robots
Ceilings
Degrees of freedom (mechanics)
Dynamic analysis
1 Citation (Scopus)

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

Matsutani, Y., Tahara, K., Kino, H. & Ochi, H., Mar 28 2018, (Accepted/In press) In : Advanced Robotics. 32, 8, p. 1-15 15 p.

Research output: Contribution to journalArticle

Sensory feedback
Feedforward control
Force control
Feedback control
Time delay
9 Citations (Scopus)

Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy

Masuya, K., Ono, S., Takagi, K. & Tahara, K., Jul 1 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 1824-1831 8 p.

Research output: Contribution to journalArticle

Feedforward Control
Feedforward control
Nonlinear Model
Feedforward
Actuator

Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures

Tsuji, T., Seki, H., Inada, D., Morooka, K. I., Harada, K., Tahara, K., Hikizu, M. & Seki, H., Oct 15 2018, 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018. Institute of Electrical and Electronics Engineers Inc., p. 1386-1392 7 p. 8492623. (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Synergy
Signature
signatures
Contact
Robots

Gray-box modeling and control of torsional fishing-line artificial muscle actuators

Oiwa, C., Masuya, K., Tahara, K., Irisawa, T., Shioya, M., Yamauchi, T., Tanaka, E., Asaka, K. & Takagi, K., Jan 1 2018, Electroactive Polymer Actuators and Devices (EAPAD) XX. Bar-Cohen, Y. (ed.). SPIE, Vol. 10594. 1059428. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 10594).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

fishing
Artificial muscle
muscles
Muscle
boxes
1 Citation (Scopus)

Learning task manifolds for constrained object manipulation

Li, M., Tahara, K. & Billard, A., Jan 1 2018, In : Autonomous Robots. 42, 1, p. 159-174 16 p.

Research output: Contribution to journalArticle

Robotics
Robots
Controllers
2 Citations (Scopus)

Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips

Psomopoulou, E., Karashima, D., Doulgeri, Z. & Tahara, K., Feb 1 2018, In : Robotica. 36, 2, p. 204-224 21 p.

Research output: Contribution to journalArticle

Robotics
Controllers
Static analysis
Controller
Grasping
1 Citation (Scopus)

Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control

Ono, S., Masuya, K., Takagi, K. & Tahara, K., Jul 5 2018, 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. Institute of Electrical and Electronics Engineers Inc., p. 467-472 6 p. (2018 IEEE International Conference on Soft Robotics, RoboSoft 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iterative Learning Control
Trajectory Tracking
Manipulator
Manipulators
Actuator

Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators

Kubota, H. & Tahara, K., Aug 30 2018, AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., Vol. 2018-July. p. 539-544 6 p. 8452275. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Elastomers
Actuators
Controllers
Durability
Electric potential

「マニピュレーション・レビュー」特集について

Translated title of the contribution: On special issue "Introduction to The Review of Advanced Manipulation"原田研介 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 305-305 1 p.

Research output: Contribution to journalArticle

多指ロボットハンドの制御法

Translated title of the contribution: A Brief Survey on Control of Multi-fingered Robotic hands小澤隆太 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 306-315 10 p.

Research output: Contribution to journalArticle

End effectors

時間遅れやノイズにロバストな運動制御戦略:—開かれた環境での運動知能—

Translated title of the contribution: A Robust Motor Control Strategy against Time-delays and Noises:—Motor Intelligence on Open Environments—田原健二, Dec 15 2018, In : 日本ロボット学会誌. 36, 9, p. 616-619 4 p.

Research output: Contribution to journalArticle

intelligence
time
2017
2 Citations (Scopus)

A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations

Morizono, T., Tahara, K. & Kino, H., Mar 1 2017, In : Artificial Life and Robotics. 22, 1, p. 74-82 9 p.

Research output: Contribution to journalArticle

Muscle
Robots
Muscles
Computer simulation
Motion control
10 Citations (Scopus)

Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point

Ozawa, R. & Tahara, K., Oct 18 2017, In : Advanced Robotics. 31, 19-20, p. 1030-1050 21 p.

Research output: Contribution to journalArticle

End effectors
Robotics
Control systems
11 Citations (Scopus)
Joule heating
convective heat transfer
Polymers
Actuators
actuators
7 Citations (Scopus)

Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance

Masuya, K., Ono, S., Takagi, K. & Tahara, K., Aug 21 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., p. 779-784 6 p. 8014112. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Energy balance
Actuators
Polymers
Joule heating
Curve fitting
13 Citations (Scopus)

Position control of twisted and coiled polymer actuator using a controlled fan for cooling

Takagi, K., Arakawa, T., Takeda, J., Masuya, K., Tahara, K. & Asaka, K., Jan 1 2017, Electroactive Polymer Actuators and Devices (EAPAD) 2017. Bar-Cohen, Y. (ed.). SPIE, 101632V. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 10163).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Position Control
Position control
fans
Fans
Cooling
4 Citations (Scopus)

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

Kino, H., Ochi, H., Matsutani, Y. & Tahara, K., Aug 18 2017, In : Advanced Robotics. 31, 16, p. 851-864 14 p.

Research output: Contribution to journalArticle

Tendons
Manipulators
Position control
Sensory feedback
Lyapunov functions

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

Matsutani, Y., Tahara, K., Kino, H. & Ochi, H., Dec 22 2017, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017. IEEE Computer Society, Vol. Part F134101. p. 213-218 6 p. (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tendons
Stiffness
Robots
Wire

ねじり型釣糸人工筋アクチュエータのトルク制御

Translated title of the contribution: Torque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator大岩千隼, 荒川武士, 舛屋賢, 田原健二, 入澤寿平, 安積欣志 & 高木賢太郎, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A04

Research output: Contribution to journalArticle

Torque control
Muscle
Actuators
Torque
Transfer functions

対流熱伝達の温度・速度依存性に基づく釣糸人工筋肉の変位モデリング

Translated title of the contribution: Macroscopic Displacement Model of Twisted and Coiled Polymer Actuator based on the Temperature and Velocity Dependence of Convective Heat Transfer舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A01

Research output: Contribution to journalArticle

Actuators
Heat transfer
Polymers
Temperature
Experiments

複数の釣糸アクチュエータを用いた2自由度マニピュレータの位置・剛性制御

Translated title of the contribution: Position and Stiffness Control of 2-DOF Manipulator Using Multiple Fishing Line Actuators小野秀, 舛屋賢, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A03

Research output: Contribution to journalArticle

Manipulators
Actuators
Stiffness
Fibers
Polymers

誘電エラストマーアクチュエータを用いた1自由度マニピュレータの位置・力制御

Translated title of the contribution: Position and Force Control of 1 DOF Manipulator driven by Dielectric Elastomer Actuators久保田洋輝 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-B06

Research output: Contribution to journalArticle

Force control
Position control
Elastomers
Manipulators
Actuators

釣糸人工筋肉の束を利用したアクチュエータユニットの開発

Translated title of the contribution: Development of Actuator Unit consisting of Multiple Twisted and Coiled Polymer Actuators舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A02

Research output: Contribution to journalArticle

Actuators
Polymers
Controllers
Fibers
Experiments
2016

2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件

Translated title of the contribution: Muscular Arrangement Conditions of Musculoskeletal System with Two Joints and Six Muscles for Feedforward Position Control越智裕章, 木野仁, 田原健二 & 松谷祐希, 2016, In : 日本ロボット学会誌. 34, 2, p. 133-142 10 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Position control
Muscle
Torque

Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure

Ochi, H., Kino, H., Tahara, K. & Matsutani, Y., Jan 25 2016, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., p. 1109-1114 6 p. 7392248

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tendons
Muscle
Sensory feedback
Manipulators
Bone
36 Citations (Scopus)

Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread

Arakawa, T., Takagi, K., Tahara, K. & Asaka, K., Jan 1 2016, Electroactive Polymer Actuators and Devices (EAPAD) 2016. Vidal, F. & Bar-Cohen, Y. (eds.). SPIE, 97982W. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 9798).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

fishing
Artificial muscle
Position Control
Nylon (trademark)
threads
2 Citations (Scopus)

Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force

Tahara, K., Matsutani, Y., Nakagawa, D., Sato, M. & Kino, H., Dec 21 2016, Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, p. 815-820 6 p. 7793411. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Musculoskeletal system
Feedback
Controllers
Time delay
Computer simulation

むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御

Translated title of the contribution: Set-point Control for a Musculoskeletal System using Complementary Combination of a Sensory Feedback Including a Time-delay and a Muscular Internal Force Feedforward松谷祐希, 田原健二, 木野仁, 越智裕章 & 山本元司, 2016, In : 日本ロボット学会誌. 34, 2, p. 143-152 10 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Sensory feedback
Feedforward control
Time delay
Force control
2015

1P1-X02 最大筋力を考慮した筋骨格システムの位置制御

Translated title of the contribution: 1P1-X02 Set-point Control of a Musculoskeletal System Considering Maximum Muscular Force中川大輔, 松谷祐希, 木野仁 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P1-X02(1)"-"1P1-X02(4)"

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Feedback control
Sensory feedback
Muscle

1P2-O08 パーティクルフィルタによる物体の位置・姿勢推定値を用いた物体把持・操作手法

Translated title of the contribution: 1P2-O08 Object Manipulation using a Particle Filter to Estimate a Position and Attitude of an Grasped Object大藤康平, 辻徳生 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P2-O08(1)"-"1P2-O08(3)"

Research output: Contribution to journalArticle

Time delay
Lasers
Sensors

2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証

Translated title of the contribution: 2A2-K06 Development of Wearable Walking Assist Device using Linear Actuator and Its Verification through Numerical Simulations田原健二, 岡田共史, 中島康貴 & 山本元司, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "2A2-K06(1)"-"2A2-K06(4)"

Research output: Contribution to journalArticle

Linear actuators
Controllers
Computer simulation
Gears
Actuators
2 Citations (Scopus)

Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces

Morizono, T., Tahara, K. & Kino, H., Jan 1 2015, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., p. 3573-3578 6 p. 7392655. (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Manipulators
Robots
Neural networks
Interpolation
Binoculars
1 Citation (Scopus)

Grasp stability evaluation based on energy tolerance in potential field

Tsuji, T., Baba, K., Tahara, K., Harada, K., Morooka, KI. & Kurazume, R., Dec 11 2015, IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2311-2316 6 p. 7353688. (IEEE International Conference on Intelligent Robots and Systems; vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Potential energy
Elastic deformation
2014
1 Citation (Scopus)

A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds

Ishibashi, R., Ochi, H., Oda, T., Okuda, R., Umeda, K., Tahara, K., Kino, H. & Kojima, A., Apr 20 2014, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., p. 2673-2678 6 p. 7090746. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Flexible wings
Flexible structures
Posture
Shape memory effect
Robots
4 Citations (Scopus)

Development of a two-link planar manipulator with continuously variable transmission mechanism

Okada, T. & Tahara, K., Jan 1 2014, AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., p. 617-622 6 p. 6878147. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Manipulators
Experiments
2 Citations (Scopus)

Grasp stability analysis for elastic fingertips by using potential energy

Tsuji, T., Baba, K., Tahara, K., Harada, K., Morooka, K. & Kurazume, R., Jan 30 2014, 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., p. 453-458 6 p. 7028081

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Potential energy
Elastic deformation
Kinetic energy
33 Citations (Scopus)

Learning object-level impedance control for robust grasping and dexterous manipulation

Li, M., Yin, H., Tahara, K. & Billard, A., Sep 22 2014, In : Proceedings - IEEE International Conference on Robotics and Automation. p. 6784-6791 8 p., 6907861.

Research output: Contribution to journalConference article

Wine
Demonstrations
Stiffness
Glass
Sensors
4 Citations (Scopus)

Set-point control of a musculoskeletal arm by The complementary combination of a feedforward and feedback manner

Matsutani, Y., Tahara, K., Kino, H., Ochi, H. & Yamamoto, M., Jan 1 2014, In : Proceedings - IEEE International Conference on Robotics and Automation. p. 5908-5914 7 p., 6907729.

Research output: Contribution to journalConference article

Feedback
Musculoskeletal system
Visual servoing
Time delay
Cameras
2013
7 Citations (Scopus)

Dynamic grasping of an arbitrary polyhedral object

Kawamura, A., Tahara, K., Kurazume, R. & Hasegawa, T., Jul 2013, In : Robotica. 31, 4, p. 511-523 13 p.

Research output: Contribution to journalArticle

Grasping
Arbitrary
Torque
Controllers
Computer simulation
1 Citation (Scopus)

Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force

Matsutani, Y., Ochi, H., Kino, H., Tahara, K. & Yamamoto, M., Dec 1 2013, 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. p. 7-12 6 p. 6705498. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Muscle
Reinforcement learning
Robotics
Viscosity
Controllers
14 Citations (Scopus)

Numerical analysis of feedforward position control for non-pulley musculoskeletal system: A case study of muscular arrangements of a two-link planar system with six muscles

Kino, H., Kikuchi, S., Matsutani, Y., Tahara, K. & Nishiyama, T., Aug 21 2013, In : Advanced Robotics. 27, 16, p. 1235-1248 14 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Position control
Muscle
Numerical analysis
2 Citations (Scopus)
Visual servoing
Dynamic models
Controllers
Computer simulation
Experiments